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sha256:f625d91c6be53f31507d6e8fd1935c524eb30306563582ca9018fcfab6dd89e0 +size 544600 diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/000/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/000/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/001/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/001/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/001/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/002/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/002/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/003/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/003/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/004/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/004/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/004/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/005/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/005/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/006/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/006/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/006/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/007/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/007/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/007/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/008/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/008/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/009/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/009/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/010/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/010/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/010/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/011/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/011/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/012/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/012/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/012/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/013/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/013/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/013/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/014/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/014/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/015/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/015/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/015/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/016/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/016/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/016/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/017/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/017/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/018/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/018/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/018/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/019/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/019/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/020/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/020/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/020/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/020/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/020/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/020/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/021/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/021/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/021/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/021/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/021/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/022/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/022/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/022/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/022/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/022/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/023/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/023/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/023/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/023/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/023/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/023/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/024/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/024/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/025/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/025/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/025/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/025/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/025/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/025/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/026/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/026/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/027/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/027/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/027/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/027/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/027/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/028/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/028/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/029/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/029/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/029/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/029/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/030/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/030/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/031/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/031/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/031/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/032/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/032/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/033/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/033/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/034/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/034/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/035/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/035/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/035/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/035/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/035/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/035/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/036/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/036/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/036/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/036/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/036/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/036/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/036/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/037/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/037/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/038/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/038/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/039/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/039/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/039/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/039/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/039/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/039/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/040/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/040/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/040/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/040/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/040/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/041/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/041/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/042/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/042/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/043/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/043/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/044/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/044/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/044/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/044/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/044/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/045/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/045/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/045/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/045/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/045/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/045/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/046/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/046/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/047/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/047/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/048/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/048/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/049/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/049/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/050/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/050/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/051/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/051/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/051/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/051/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/051/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/052/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/052/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/053/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/053/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/053/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/054/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/054/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/055/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/055/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/055/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/055/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/055/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/055/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/056/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/056/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/057/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/057/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/058/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/058/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/058/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/058/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/059/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/059/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_eval + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/059/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf/059/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf/059/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf/059/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf/059/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf/059/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/000/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/000/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/000/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/001/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/001/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/001/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/002/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/002/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/002/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/003/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/003/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/003/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/004/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/004/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/004/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/005/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/005/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/005/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/006/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/006/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/006/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/007/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/007/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/007/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/008/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/008/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/008/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/009/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/009/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/009/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/010/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/010/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/010/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/011/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/011/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/011/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/012/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/012/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/012/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/013/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/013/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/013/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/014/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/014/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/014/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/015/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/015/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/015/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/016/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/016/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/016/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/017/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/017/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/017/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/018/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/018/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/018/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/019/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/019/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/019/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/020/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/020/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/020/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/020/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/020/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/020/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/021/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/021/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/021/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/021/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/021/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/022/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ca6ef2a3158b0687b6e0556908a3a7bcef44a68 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/022/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/022/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/022/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/022/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ced334899f70f4c5f8ff34dc0c9495765e6238c Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/023/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ca6ef2a3158b0687b6e0556908a3a7bcef44a68 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/023/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/023/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/023/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/023/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ced334899f70f4c5f8ff34dc0c9495765e6238c Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/023/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/024/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/024/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/024/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/024/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/024/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/024/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/024/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/024/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/025/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ca6ef2a3158b0687b6e0556908a3a7bcef44a68 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/025/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/025/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/025/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/025/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ced334899f70f4c5f8ff34dc0c9495765e6238c Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/025/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/026/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/026/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/026/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/026/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/026/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/026/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/026/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/026/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/027/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/027/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/027/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/027/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/027/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/028/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/028/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/028/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/028/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/028/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/028/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/028/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/028/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/029/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/029/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/029/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/029/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/030/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/030/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/030/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/030/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/030/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/030/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/030/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/030/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/031/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/031/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/031/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/032/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/032/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/032/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/032/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/032/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/032/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/032/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/032/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/033/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/033/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/033/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/033/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/033/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/033/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/033/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/033/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/034/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/034/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/034/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/034/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/034/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/034/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/034/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/034/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/035/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/035/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/035/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/035/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/035/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/035/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/036/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ca6ef2a3158b0687b6e0556908a3a7bcef44a68 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/036/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/036/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/036/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/036/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/036/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ced334899f70f4c5f8ff34dc0c9495765e6238c Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/036/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/037/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/037/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/037/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/037/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/037/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/037/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/037/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/037/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/038/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/038/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/038/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/038/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/038/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/038/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/038/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/038/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/039/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/039/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/039/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/039/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/039/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/039/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/040/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ca6ef2a3158b0687b6e0556908a3a7bcef44a68 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/040/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/040/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/040/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/040/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ced334899f70f4c5f8ff34dc0c9495765e6238c Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/041/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/041/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/041/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/041/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/041/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/041/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/041/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/041/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/042/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/042/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/042/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/042/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/042/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/042/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/042/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/042/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/043/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ca6ef2a3158b0687b6e0556908a3a7bcef44a68 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/043/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/043/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/043/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/043/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/043/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/043/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ced334899f70f4c5f8ff34dc0c9495765e6238c Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/043/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/044/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/044/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/044/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/044/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/044/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/044/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/044/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/044/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/045/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/045/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/045/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/045/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/045/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/045/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/046/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/046/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/046/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/046/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/046/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/046/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/046/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/046/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/047/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/047/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/047/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/047/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/047/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/047/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/047/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/047/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/048/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/048/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/048/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/048/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/048/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/048/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/048/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/048/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/049/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/049/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/049/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/049/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/049/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/049/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/049/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/049/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/050/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/050/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/050/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/050/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/050/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/050/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/050/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/050/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/051/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/051/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/051/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/051/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/051/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/052/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/052/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/052/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/052/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/052/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/052/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/052/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/052/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/053/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/053/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/053/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/054/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/054/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/054/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/054/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/054/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/054/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/054/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/054/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/055/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/055/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/055/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/055/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/055/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/055/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/056/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/056/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/056/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/056/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/056/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/056/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/056/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/056/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/057/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/057/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/057/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/057/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/057/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/057/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/057/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/057/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/058/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/058/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/058/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/058/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + 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 apple from the dining table and place it into the fruit bowl. # 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: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl/059/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/detergent_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_unseen/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: 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_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_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/detergent_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/detergent_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_unseen/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_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_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/detergent_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/detergent_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_unseen/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_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_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/detergent_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/detergent_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_unseen/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_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_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/detergent_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/detergent_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_unseen/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_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_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/detergent_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/detergent_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_val_unseen/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_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_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/detergent_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_unseen/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_unseen/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train/000/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train/000/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train/001/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train/001/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train/002/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train/002/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train/003/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train/003/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_train/004/config.yaml b/tasks/ebench/mobile_manip/fruit_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train/004/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_train/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_train/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_train/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_train/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..037fd77dbf4b9ad930684e19b5e558df924b16c9 Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..bbef38510b4ff7c1e97bdc6726c9d9e60fb44802 Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2b3e60c9e2cbc8c151d5f3b08c2e920ab386e7b0 Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/000/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_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/remote_to_holder_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3033255f8fb1e74867e8eabce5b23ca733c80dba Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/001/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_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/remote_to_holder_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/002/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_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/remote_to_holder_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/003/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_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/remote_to_holder_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/004/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_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/remote_to_holder_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c48983eedd81f24403d8c97602490163fd7c447 Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..43610ea7f1e619dad03fd60b68608b3a4ca3ee59 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/005/config.yaml @@ -0,0 +1,158 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 80 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the remote control from the coffee table and place it into the remote control holder. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.7 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 15 + orientation: [0.11 , 0.11, 0.70710677, 0.70710677] + reset_orientation: true + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '3': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_01' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/remote_control/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_00' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.955, -0.507, -0.502] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task5_ready + usd_name: scene_usds/ebench/simple_pnp/task5/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the remote control from the coffee table and place it in the remote holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task5_obj + usd_name: scene_usds/ebench/simple_pnp/task5/scene diff --git a/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/remote_to_holder_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/remote_to_holder_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8367a93c71cb91dc01b5cabc127ad86bfd9bf79d Binary files /dev/null and b/tasks/ebench/mobile_manip/remote_to_holder_val_unseen/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans/008/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "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/collect_coffee_beans/008/lmdb/lock.mdb 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0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "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", 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"/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/frame_against_pen_holder_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "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": 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"/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/frame_against_pen_holder_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/006/lmdb/info.json @@ -0,0 +1 @@ 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a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "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": 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b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "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/frame_against_pen_holder_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 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