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/dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/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_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/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_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/002/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/003/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/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_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1c2253e419f4c34fe0666f951da0aa0a6407bd0b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c872341b87c939abdf73b8f5b300f2981296bf79 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/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_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_unseen/005/lmdb/info.json new file 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+demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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/apple_to_fruit_bowl_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/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_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/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_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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/apple_to_fruit_bowl_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/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_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/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/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_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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/apple_to_fruit_bowl_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/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/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_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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/apple_to_fruit_bowl_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/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/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_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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/apple_to_fruit_bowl_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/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_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_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/apple_to_fruit_bowl_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_unseen/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_val_unseen/005/lmdb/lock.mdb 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+++ b/tasks/ebench/mobile_manip/bowl_to_plate/001/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/004/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/004/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/006/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/006/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/007/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/007/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/010/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/010/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/012/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/012/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/013/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/013/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/015/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/015/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/016/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/016/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/018/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/018/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/020/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/020/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/021/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/021/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/022/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/022/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/023/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/023/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/025/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/025/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/027/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/027/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/029/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/029/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/031/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/031/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/035/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/035/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/036/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/036/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/039/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/039/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/040/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/040/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/043/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/043/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/044/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/044/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/045/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/045/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/051/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/051/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/053/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/053/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/055/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/055/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/058/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/058/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate/059/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate/059/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train/000/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/000/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train/001/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/001/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d60e57c18653c6a2d73c6e63722e7a9c04384c13 Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train/002/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/002/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train/003/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/003/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train/004/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/004/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_train/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_train_20p/001/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_train_20p/006/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_train_20p/007/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/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_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/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_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/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_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/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_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/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_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/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_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/006/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/007/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/008/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 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_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/009/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 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_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/010/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/011/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/012/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/013/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/014/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_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/015/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/016/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/017/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/018/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/detergent_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent_test_mini/019/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - 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