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filter=lfs diff=lfs merge=lfs -text diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7a02f34127d529463ec64da6853f5036bb7b9d71 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c9d8ed099bb947ccb84c2d353e227e4a979e4ee7 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..462a46c69c745945f3ca7d1fc61c65a14f1c53a5 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/002/config.yaml @@ -0,0 +1,180 @@ +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$" + path: "regex:bookmark1\\.usd$" + 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_fix + 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_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8aa7cda50017f83b04e02c89d9816af96ecc7f52 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_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_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..74a07b795a5e3b7aabfafa442217fa02ff9c7e29 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f653ce64162b2c228f2c6ca3caff318d4c224e4e --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/009/config.yaml @@ -0,0 +1,180 @@ +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$" + path: "regex:bookmark3\\.usd$" + 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_fix + 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_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f87ec4f3e3dc6a613486201c6146d6e649eb736d Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..462a46c69c745945f3ca7d1fc61c65a14f1c53a5 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/010/config.yaml @@ -0,0 +1,180 @@ +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$" + path: "regex:bookmark1\\.usd$" + 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_fix + 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_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8aa7cda50017f83b04e02c89d9816af96ecc7f52 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..462a46c69c745945f3ca7d1fc61c65a14f1c53a5 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/011/config.yaml @@ -0,0 +1,180 @@ +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$" + path: "regex:bookmark1\\.usd$" + 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_fix + 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_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bookmark_on_book_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/bookmark_on_book_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8aa7cda50017f83b04e02c89d9816af96ecc7f52 Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/000/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/001/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/002/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/003/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/004/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/005/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/006/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/007/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/008/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d60e57c18653c6a2d73c6e63722e7a9c04384c13 Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/009/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/010/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/011/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/012/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/013/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/014/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/015/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/016/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/017/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/018/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/019/config.yaml @@ -0,0 +1,201 @@ +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: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_test_mini/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/000/config.yaml b/tasks/ebench/mobile_manip/dish/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/000/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/000/lmdb/info.json b/tasks/ebench/mobile_manip/dish/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/001/config.yaml b/tasks/ebench/mobile_manip/dish/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/001/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/001/lmdb/info.json b/tasks/ebench/mobile_manip/dish/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/002/config.yaml b/tasks/ebench/mobile_manip/dish/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/002/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/002/lmdb/info.json b/tasks/ebench/mobile_manip/dish/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/003/config.yaml b/tasks/ebench/mobile_manip/dish/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/003/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/003/lmdb/info.json b/tasks/ebench/mobile_manip/dish/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/004/config.yaml b/tasks/ebench/mobile_manip/dish/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/004/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/004/lmdb/info.json b/tasks/ebench/mobile_manip/dish/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/005/config.yaml b/tasks/ebench/mobile_manip/dish/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/005/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/005/lmdb/info.json b/tasks/ebench/mobile_manip/dish/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/006/config.yaml b/tasks/ebench/mobile_manip/dish/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/006/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/006/lmdb/info.json b/tasks/ebench/mobile_manip/dish/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/007/config.yaml b/tasks/ebench/mobile_manip/dish/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/007/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/007/lmdb/info.json b/tasks/ebench/mobile_manip/dish/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/008/config.yaml b/tasks/ebench/mobile_manip/dish/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/008/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/008/lmdb/info.json b/tasks/ebench/mobile_manip/dish/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/009/config.yaml b/tasks/ebench/mobile_manip/dish/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/009/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/009/lmdb/info.json b/tasks/ebench/mobile_manip/dish/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/010/config.yaml b/tasks/ebench/mobile_manip/dish/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/010/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/010/lmdb/info.json b/tasks/ebench/mobile_manip/dish/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/011/config.yaml b/tasks/ebench/mobile_manip/dish/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/011/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/011/lmdb/info.json b/tasks/ebench/mobile_manip/dish/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/012/config.yaml b/tasks/ebench/mobile_manip/dish/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/012/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/012/lmdb/info.json b/tasks/ebench/mobile_manip/dish/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/013/config.yaml b/tasks/ebench/mobile_manip/dish/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/013/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/013/lmdb/info.json b/tasks/ebench/mobile_manip/dish/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/014/config.yaml b/tasks/ebench/mobile_manip/dish/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/014/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/014/lmdb/info.json b/tasks/ebench/mobile_manip/dish/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/015/config.yaml b/tasks/ebench/mobile_manip/dish/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/015/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/015/lmdb/info.json b/tasks/ebench/mobile_manip/dish/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/016/config.yaml b/tasks/ebench/mobile_manip/dish/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/016/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/016/lmdb/info.json b/tasks/ebench/mobile_manip/dish/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/017/config.yaml b/tasks/ebench/mobile_manip/dish/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/017/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/017/lmdb/info.json b/tasks/ebench/mobile_manip/dish/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/018/config.yaml b/tasks/ebench/mobile_manip/dish/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/018/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/018/lmdb/info.json b/tasks/ebench/mobile_manip/dish/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/019/config.yaml b/tasks/ebench/mobile_manip/dish/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/019/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/019/lmdb/info.json b/tasks/ebench/mobile_manip/dish/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/020/config.yaml b/tasks/ebench/mobile_manip/dish/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/020/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/020/lmdb/info.json b/tasks/ebench/mobile_manip/dish/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/020/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/020/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/020/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/021/config.yaml b/tasks/ebench/mobile_manip/dish/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/021/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/021/lmdb/info.json b/tasks/ebench/mobile_manip/dish/021/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/021/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/022/config.yaml b/tasks/ebench/mobile_manip/dish/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/022/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/022/lmdb/info.json b/tasks/ebench/mobile_manip/dish/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/022/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/022/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/023/config.yaml b/tasks/ebench/mobile_manip/dish/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/023/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/023/lmdb/info.json b/tasks/ebench/mobile_manip/dish/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/023/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/023/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/023/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/024/config.yaml b/tasks/ebench/mobile_manip/dish/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/024/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/024/lmdb/info.json b/tasks/ebench/mobile_manip/dish/024/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/024/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/024/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/024/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/024/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/025/config.yaml b/tasks/ebench/mobile_manip/dish/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/025/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/025/lmdb/info.json b/tasks/ebench/mobile_manip/dish/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/025/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/025/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/025/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/026/config.yaml b/tasks/ebench/mobile_manip/dish/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/026/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/026/lmdb/info.json b/tasks/ebench/mobile_manip/dish/026/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/026/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/026/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/026/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/026/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/027/config.yaml b/tasks/ebench/mobile_manip/dish/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/027/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/027/lmdb/info.json b/tasks/ebench/mobile_manip/dish/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/027/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/027/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/028/config.yaml b/tasks/ebench/mobile_manip/dish/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/028/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/028/lmdb/info.json b/tasks/ebench/mobile_manip/dish/028/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/028/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/028/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/028/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/028/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/029/config.yaml b/tasks/ebench/mobile_manip/dish/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/029/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/029/lmdb/info.json b/tasks/ebench/mobile_manip/dish/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/029/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/030/config.yaml b/tasks/ebench/mobile_manip/dish/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/030/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/030/lmdb/info.json b/tasks/ebench/mobile_manip/dish/030/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/030/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/030/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/030/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/030/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/031/config.yaml b/tasks/ebench/mobile_manip/dish/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/031/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/031/lmdb/info.json b/tasks/ebench/mobile_manip/dish/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/032/config.yaml b/tasks/ebench/mobile_manip/dish/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/032/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/032/lmdb/info.json b/tasks/ebench/mobile_manip/dish/032/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/032/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/032/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/032/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/032/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/033/config.yaml b/tasks/ebench/mobile_manip/dish/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/033/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/033/lmdb/info.json b/tasks/ebench/mobile_manip/dish/033/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/033/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/033/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/033/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/033/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/034/config.yaml b/tasks/ebench/mobile_manip/dish/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/034/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/034/lmdb/info.json b/tasks/ebench/mobile_manip/dish/034/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/034/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/034/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/034/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/034/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/035/config.yaml b/tasks/ebench/mobile_manip/dish/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/035/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/035/lmdb/info.json b/tasks/ebench/mobile_manip/dish/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/035/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/035/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/035/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/036/config.yaml b/tasks/ebench/mobile_manip/dish/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/036/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/036/lmdb/info.json b/tasks/ebench/mobile_manip/dish/036/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/036/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/036/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/036/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/037/config.yaml b/tasks/ebench/mobile_manip/dish/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/037/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/037/lmdb/info.json b/tasks/ebench/mobile_manip/dish/037/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/037/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/037/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/037/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/037/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/038/config.yaml b/tasks/ebench/mobile_manip/dish/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/038/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/038/lmdb/info.json b/tasks/ebench/mobile_manip/dish/038/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/038/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/038/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/038/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/038/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/039/config.yaml b/tasks/ebench/mobile_manip/dish/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/039/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/039/lmdb/info.json b/tasks/ebench/mobile_manip/dish/039/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/039/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/039/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/040/config.yaml b/tasks/ebench/mobile_manip/dish/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/040/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/040/lmdb/info.json b/tasks/ebench/mobile_manip/dish/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/040/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/040/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/041/config.yaml b/tasks/ebench/mobile_manip/dish/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/041/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/041/lmdb/info.json b/tasks/ebench/mobile_manip/dish/041/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/041/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/041/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/041/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/041/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/042/config.yaml b/tasks/ebench/mobile_manip/dish/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/042/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/042/lmdb/info.json b/tasks/ebench/mobile_manip/dish/042/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/042/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/042/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/042/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/042/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/043/config.yaml b/tasks/ebench/mobile_manip/dish/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/043/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/043/lmdb/info.json b/tasks/ebench/mobile_manip/dish/043/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/043/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/043/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/043/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/043/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/044/config.yaml b/tasks/ebench/mobile_manip/dish/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/044/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/044/lmdb/info.json b/tasks/ebench/mobile_manip/dish/044/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/044/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/044/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/044/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/044/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/045/config.yaml b/tasks/ebench/mobile_manip/dish/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/045/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/045/lmdb/info.json b/tasks/ebench/mobile_manip/dish/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/045/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/045/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/045/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/046/config.yaml b/tasks/ebench/mobile_manip/dish/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/046/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/046/lmdb/info.json b/tasks/ebench/mobile_manip/dish/046/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/046/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/046/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/046/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/046/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/047/config.yaml b/tasks/ebench/mobile_manip/dish/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/047/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/047/lmdb/info.json b/tasks/ebench/mobile_manip/dish/047/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/047/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/047/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/047/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/047/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/048/config.yaml b/tasks/ebench/mobile_manip/dish/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/048/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/048/lmdb/info.json b/tasks/ebench/mobile_manip/dish/048/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/048/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/048/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/048/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/048/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/049/config.yaml b/tasks/ebench/mobile_manip/dish/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/049/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/049/lmdb/info.json b/tasks/ebench/mobile_manip/dish/049/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/049/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/049/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/049/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/049/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/050/config.yaml b/tasks/ebench/mobile_manip/dish/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/050/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/050/lmdb/info.json b/tasks/ebench/mobile_manip/dish/050/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/050/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/050/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/050/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/050/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/051/config.yaml b/tasks/ebench/mobile_manip/dish/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/051/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/051/lmdb/info.json b/tasks/ebench/mobile_manip/dish/051/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/051/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/052/config.yaml b/tasks/ebench/mobile_manip/dish/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/052/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/052/lmdb/info.json b/tasks/ebench/mobile_manip/dish/052/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/052/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/052/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/052/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/052/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/053/config.yaml b/tasks/ebench/mobile_manip/dish/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/053/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/053/lmdb/info.json b/tasks/ebench/mobile_manip/dish/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/054/config.yaml b/tasks/ebench/mobile_manip/dish/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/054/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/054/lmdb/info.json b/tasks/ebench/mobile_manip/dish/054/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/054/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/054/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/054/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/054/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/055/config.yaml b/tasks/ebench/mobile_manip/dish/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/055/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/055/lmdb/info.json b/tasks/ebench/mobile_manip/dish/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/055/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/055/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/055/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/056/config.yaml b/tasks/ebench/mobile_manip/dish/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/056/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/056/lmdb/info.json b/tasks/ebench/mobile_manip/dish/056/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/056/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/056/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/056/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/056/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/057/config.yaml b/tasks/ebench/mobile_manip/dish/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/057/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/057/lmdb/info.json b/tasks/ebench/mobile_manip/dish/057/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/057/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/057/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/057/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/057/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/058/config.yaml b/tasks/ebench/mobile_manip/dish/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/058/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/058/lmdb/info.json b/tasks/ebench/mobile_manip/dish/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/058/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish/059/config.yaml b/tasks/ebench/mobile_manip/dish/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/059/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/059/lmdb/info.json b/tasks/ebench/mobile_manip/dish/059/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish/059/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish/059/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish/059/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish/059/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train/000/config.yaml b/tasks/ebench/mobile_manip/dish_val_train/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train/000/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train/001/config.yaml b/tasks/ebench/mobile_manip/dish_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train/001/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train/002/config.yaml b/tasks/ebench/mobile_manip/dish_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train/002/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train/003/config.yaml b/tasks/ebench/mobile_manip/dish_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train/003/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train/004/config.yaml b/tasks/ebench/mobile_manip/dish_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train/004/config.yaml @@ -0,0 +1,588 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train/004/lmdb/info.json new file 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b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/000/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/001/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/002/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/003/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/004/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/005/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/006/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/007/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/008/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/009/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/010/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/011/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_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/perfume_to_cosmetics_rack_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/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_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/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_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/001/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_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/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_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/002/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_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/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_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/003/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_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/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_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/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_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/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_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/006/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_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/006/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_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/007/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_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/007/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_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/008/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_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/008/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_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/009/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_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/010/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_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/010/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_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/011/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_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_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/salt_to_spice_rack_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen_20p/011/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_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5ec20a3f2ff2d9ef02cd9bb93e2233bcaa53c999 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1aad355315644bdcd393f32896333e5019965099 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..19d1905297a7420742b9e630ee33918fde13ea78 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 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0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/000/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + 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 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/001/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + 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 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d889efcd3e404ab6c92dc9db43b80362e151b5fb Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/002/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + 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 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/003/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + 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 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/004/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/004/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/004/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/004/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/004/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/004/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/004/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + 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 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/005/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/005/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/005/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/005/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/005/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/005/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_unseen/005/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + 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 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/000/lmdb/data.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/000/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f2fd43226841c2a3bc56deb21be2161d46fb1103 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/000/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c98436162e8efa05152a04f04378dc3546d4081d1474a0e51bb298d9414eed2 +size 4091904 diff --git 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