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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_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/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_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/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_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/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/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_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/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_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/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/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_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen/005/lmdb/info.json new file mode 100644 index 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hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/001/config.yaml b/tasks/ebench/mobile_manip/detergent/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/001/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/002/config.yaml b/tasks/ebench/mobile_manip/detergent/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/002/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/003/config.yaml b/tasks/ebench/mobile_manip/detergent/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/003/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/004/config.yaml b/tasks/ebench/mobile_manip/detergent/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/004/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/005/config.yaml b/tasks/ebench/mobile_manip/detergent/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/005/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/006/config.yaml b/tasks/ebench/mobile_manip/detergent/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/006/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/007/config.yaml b/tasks/ebench/mobile_manip/detergent/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/007/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/010/config.yaml b/tasks/ebench/mobile_manip/detergent/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/010/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/011/config.yaml b/tasks/ebench/mobile_manip/detergent/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/011/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/012/config.yaml b/tasks/ebench/mobile_manip/detergent/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/012/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/013/config.yaml b/tasks/ebench/mobile_manip/detergent/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/013/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/015/config.yaml b/tasks/ebench/mobile_manip/detergent/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/015/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/016/config.yaml b/tasks/ebench/mobile_manip/detergent/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/016/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/017/config.yaml b/tasks/ebench/mobile_manip/detergent/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/017/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/018/config.yaml b/tasks/ebench/mobile_manip/detergent/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/018/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/019/config.yaml b/tasks/ebench/mobile_manip/detergent/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/019/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/020/config.yaml b/tasks/ebench/mobile_manip/detergent/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/020/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/021/config.yaml b/tasks/ebench/mobile_manip/detergent/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/021/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/022/config.yaml b/tasks/ebench/mobile_manip/detergent/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/022/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/023/config.yaml b/tasks/ebench/mobile_manip/detergent/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/023/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/024/config.yaml b/tasks/ebench/mobile_manip/detergent/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/024/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/025/config.yaml b/tasks/ebench/mobile_manip/detergent/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/025/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/026/config.yaml b/tasks/ebench/mobile_manip/detergent/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/026/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/027/config.yaml b/tasks/ebench/mobile_manip/detergent/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/027/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/028/config.yaml b/tasks/ebench/mobile_manip/detergent/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/028/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/029/config.yaml b/tasks/ebench/mobile_manip/detergent/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/029/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/030/config.yaml b/tasks/ebench/mobile_manip/detergent/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/030/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/031/config.yaml b/tasks/ebench/mobile_manip/detergent/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/031/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/033/config.yaml b/tasks/ebench/mobile_manip/detergent/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/033/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/034/config.yaml b/tasks/ebench/mobile_manip/detergent/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/034/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/035/config.yaml b/tasks/ebench/mobile_manip/detergent/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/035/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/036/config.yaml b/tasks/ebench/mobile_manip/detergent/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/036/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/037/config.yaml b/tasks/ebench/mobile_manip/detergent/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/037/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/038/config.yaml b/tasks/ebench/mobile_manip/detergent/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/038/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/039/config.yaml b/tasks/ebench/mobile_manip/detergent/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/039/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/040/config.yaml b/tasks/ebench/mobile_manip/detergent/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/040/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/041/config.yaml b/tasks/ebench/mobile_manip/detergent/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/041/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/042/config.yaml b/tasks/ebench/mobile_manip/detergent/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/042/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/043/config.yaml b/tasks/ebench/mobile_manip/detergent/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/043/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/044/config.yaml b/tasks/ebench/mobile_manip/detergent/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/044/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/045/config.yaml b/tasks/ebench/mobile_manip/detergent/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/045/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/046/config.yaml b/tasks/ebench/mobile_manip/detergent/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/046/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/047/config.yaml b/tasks/ebench/mobile_manip/detergent/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/047/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/048/config.yaml b/tasks/ebench/mobile_manip/detergent/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/048/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/049/config.yaml b/tasks/ebench/mobile_manip/detergent/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/049/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/051/config.yaml b/tasks/ebench/mobile_manip/detergent/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/051/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/052/config.yaml b/tasks/ebench/mobile_manip/detergent/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/052/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/053/config.yaml b/tasks/ebench/mobile_manip/detergent/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/053/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/054/config.yaml b/tasks/ebench/mobile_manip/detergent/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/054/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/055/config.yaml b/tasks/ebench/mobile_manip/detergent/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/055/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/058/config.yaml b/tasks/ebench/mobile_manip/detergent/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/058/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/059/config.yaml b/tasks/ebench/mobile_manip/detergent/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/059/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a4cf5e4e6800b331a8e05417e273cc5358d3dc6 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/000/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_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/detergent_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9231835fb94c8e7514b9a8df0bc1ac9bb7c58dc6 Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a4cf5e4e6800b331a8e05417e273cc5358d3dc6 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/001/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..bc100b83b3a132600ff4036bf0d577b5e4e70bdc Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a4cf5e4e6800b331a8e05417e273cc5358d3dc6 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/002/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_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/detergent_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..70b21fe5200f7737d284ece89d08fee5a965e15b Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a4cf5e4e6800b331a8e05417e273cc5358d3dc6 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/003/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_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/detergent_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2bd2a78d09975bbccc369724c4dc8a7a585e92f1 Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a4cf5e4e6800b331a8e05417e273cc5358d3dc6 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/004/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_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/detergent_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0709757daffbdbdca2126219cea117888540d6bc Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a4cf5e4e6800b331a8e05417e273cc5358d3dc6 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/005/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..70b21fe5200f7737d284ece89d08fee5a965e15b Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a4cf5e4e6800b331a8e05417e273cc5358d3dc6 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/006/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..003f988defb90204da45e487194738d46eef25c5 Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a4cf5e4e6800b331a8e05417e273cc5358d3dc6 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/007/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..7ae6e2b1162543f425ccc7463221b617759dbdcf Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a4cf5e4e6800b331a8e05417e273cc5358d3dc6 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/008/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d4060a9679559dcaff8081abad3b37dfbdac0698 Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4a4cf5e4e6800b331a8e05417e273cc5358d3dc6 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_train_20p/009/config.yaml @@ -0,0 +1,457 @@ +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/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git 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sha256:ad6f3b00efd0ecb60e7ad3962d97eb584723671d2b285dede5d633abcf797b59 +size 5152768 diff --git a/tasks/ebench/mobile_manip/fruit/057/meta_info.pkl b/tasks/ebench/mobile_manip/fruit/057/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..be19698db21fa5e3e160ed8a784003cc6ca48f8d --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit/057/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:874f2c694af26031fee984f05e3b4980408becb4002bcae14437e079bef805ad +size 13322 diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d5b30c227771a1a065548dd9cc4bf1d07f858fa --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/000/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..29319f1abf0f8c76bf3eb2a78afb5b0272f064e7 Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d5b30c227771a1a065548dd9cc4bf1d07f858fa --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/001/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..29319f1abf0f8c76bf3eb2a78afb5b0272f064e7 Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d5b30c227771a1a065548dd9cc4bf1d07f858fa --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/002/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6e7cce2605c7ec9ee55f98fd5aa0feffaafff5db Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d5b30c227771a1a065548dd9cc4bf1d07f858fa --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/003/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..62736e7c4c403053d9c9eaa36d73d71a601f997e Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d5b30c227771a1a065548dd9cc4bf1d07f858fa --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/004/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..62736e7c4c403053d9c9eaa36d73d71a601f997e Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d5b30c227771a1a065548dd9cc4bf1d07f858fa --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/005/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f82b2c4aa22c1edf55da2a12195c786fa2248ab8 Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d5b30c227771a1a065548dd9cc4bf1d07f858fa --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/006/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..62736e7c4c403053d9c9eaa36d73d71a601f997e Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d5b30c227771a1a065548dd9cc4bf1d07f858fa --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/007/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..746bfa58ebca30f181117a5bd106a9d1ec45bbb4 Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d5b30c227771a1a065548dd9cc4bf1d07f858fa --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/008/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6ab44f34f9c6e6a8ff32202d97a67eed23b978e9 Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3d5b30c227771a1a065548dd9cc4bf1d07f858fa --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/009/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train_20p/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae13892dcb73665d2584c192db92243b9ce1287d Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/000/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/001/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/002/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/003/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/004/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and 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0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen/003/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/001/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/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/002/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/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/004/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/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/005/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/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/006/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/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/007/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/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/010/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/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/011/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/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/012/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/012/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/013/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/013/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/015/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/015/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/018/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/018/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/019/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/019/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/020/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/020/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/025/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/025/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/026/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/026/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/027/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/027/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/028/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/028/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/029/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/029/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/031/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/031/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/034/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/034/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/035/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/035/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/036/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/036/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/038/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/038/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/040/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/040/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/041/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/041/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/043/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/043/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/044/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/044/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/045/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/045/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/047/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/047/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/048/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/048/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/049/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/049/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/051/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/051/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/052/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/052/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/053/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/053/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/055/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/055/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/soap_to_dish_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d889efcd3e404ab6c92dc9db43b80362e151b5fb Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/005/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/005/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/005/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/005/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/005/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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/soap_to_dish_test_mini/006/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/006/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/006/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/006/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/006/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/006/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/007/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/007/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/007/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/007/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/007/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1edc5ba507fed7233babf84d09ca70b694066b2a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/007/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/008/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/008/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/008/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/008/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/008/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/008/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/008/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_test_mini/009/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/009/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/009/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/009/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/009/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/009/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/009/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_test_mini/010/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/010/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/010/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/010/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/010/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/010/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/011/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/011/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/011/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/011/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/011/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/011/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/011/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_test_mini/012/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/012/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/012/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/012/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/012/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/012/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/013/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/013/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/013/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/013/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/013/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/013/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/014/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/014/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/014/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/014/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/014/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1edc5ba507fed7233babf84d09ca70b694066b2a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/014/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/014/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_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d889efcd3e404ab6c92dc9db43b80362e151b5fb Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d889efcd3e404ab6c92dc9db43b80362e151b5fb Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/017/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_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/019/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_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_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/soap_to_dish_test_mini/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/000/meta_info.pkl b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/000/meta_info.pkl new file mode 100644 index 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@@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3131ba99a0093ef20df0eaa5736bfde58086abd6d2c21ac8c3a4e729999df977 +size 6442 diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/001/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/007/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/010/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder/000/lmdb/data.mdb b/tasks/ebench/mobile_manip/utensils_to_holder/000/lmdb/data.mdb new file mode 100644 index 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0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/000/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/001/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/002/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/003/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/004/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/005/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/006/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/007/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/008/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/009/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/010/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/011/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + 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/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/flip_cup_collect_cookies/001/lmdb/info.json b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/flip_cup_collect_cookies/001/lmdb/lock.mdb b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/flip_cup_collect_cookies/004/lmdb/info.json b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/flip_cup_collect_cookies/004/lmdb/lock.mdb b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/flip_cup_collect_cookies/006/lmdb/info.json b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/flip_cup_collect_cookies/006/lmdb/lock.mdb b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/flip_cup_collect_cookies/007/lmdb/info.json b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/flip_cup_collect_cookies/007/lmdb/lock.mdb b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/flip_cup_collect_cookies/010/lmdb/info.json b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/039/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/043/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/044/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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0000000000000000000000000000000000000000..ee9baa6c97ef600231a8c69cab4c13727964bf8d --- /dev/null +++ b/tasks/ebench/table_top_manip/flip_cup_collect_cookies/059/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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