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https://git-lfs.github.com/spec/v1 +oid sha256:d72fa54fceb08e99129a0ab6977b64275652c29d191abf51ea55239f9e4bfcab +size 13199 diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen/000/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen/001/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen/002/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen/003/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen/004/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/fruit_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_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/fruit_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/fruit_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..295b69bb8c5dbcf6835e199aa69b55a87f9fc82c Binary files /dev/null and b/tasks/ebench/mobile_manip/fruit_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd --- /dev/null +++ b/tasks/ebench/mobile_manip/fruit_val_unseen/005/config.yaml @@ -0,0 +1,466 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: orange + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.0, 0.25] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.15] + orientation: [0.5, -0.5, 0.5, 0.5] + grasp: false + rel_object_uid: apple_01 + type: object_frame + - name: right + translation: [0.3, 0.1, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + translation: [0.3, -0.05, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 1 + grasp: true + type: pending + left: + - name: left + translation: [0.3, -0.13, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.0, 0.707] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.2, 0.18, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.144852, 0.124954, 0.0] + orientation: [0.2673, 0.2673, -0.65464, -0.65464] + grasp: false + rel_object_uid: cup + type: object_frame + - name: right + translation: [0.2, 0.0, 0.3] + orientation: [0.927, 0.0, 0.375, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.35, 0.0] + orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537] + grasp: true + rel_object_uid: container + type: object_frame + - name: left + cnt: 50 + grasp: false + rel_arm: left + type: reset + - type: move_to + move_type: alignv2 + arm: right + grasp: true + rel_object_uid: container + delta_position: + x: null + y: -0.1 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.2, 0.17, 0.2] + orientation: [0.803, -0.464, 0.325, -0.187] + grasp: true + rel_arm: right + type: robot_frame + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - apple + obj2_uid: + - container + position: + - in + - &id006 + obj1_uid: + - apple_01 + obj2_uid: + - container + position: + - in + - obj1_uid: + - orange + obj2_uid: + - container + position: + - in + - type: manip/default/sr_based_genmanip_axis_align + obj1_uid: cup + obj2_uid: container + obj1_axis: y + obj2_axis: y + comparison: '>=' + threshold_deg: 40.0 + - type: manip/default/sr_based_genmanip_range + obj1_uid: cup + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.04, 0.14] + y_range: [-0.08, 0.05] + z_range: [0.1, 0.3] + x_rel_object_uid: container + y_rel_object_uid: container + z_rel_object_uid: container + mode: manual + planner: curobo + instruction: Make a fruit milkshake in the cup. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - apple: + position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + apple_01: + position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + orange: + position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019] + orientation: [1.0, 0.0, 0.0, 0.0] + reset_orientation: true + additional_height: 0.01 + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + container: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + cup: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.05 + mango: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + mango: + type: existed_object + uid_list: + - mango + is_not_rigid: true + without_colliders: true + apple: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + orange: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + apple_01: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 0.9 + mass: 0.1 + option: + - plain_replace + container: + type: existed_object + uid_list: + - container + is_not_rigid: true + without_colliders: true + cup: + type: existed_object + uid_list: + - cup + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.15, -0.8, 0.2] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/fruit + usd_name: 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sha256:f7eb5964807c21a7a58716caca5881559c6b7e6111fcf300e4a35f549dd3b1c4 +size 9132 diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/000/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/001/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/001/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/002/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/003/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/004/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/004/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/005/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/006/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/006/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/007/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/007/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/008/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/009/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/010/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/010/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/011/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/012/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/012/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/013/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/013/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/014/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/015/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/015/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/016/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/016/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/017/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/018/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/018/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/019/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/020/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/020/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/021/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/021/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/022/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/022/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/023/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/023/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/024/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/024/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/024/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/024/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/024/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/024/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/025/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/025/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/026/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/026/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/027/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/027/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/029/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/029/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/030/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/030/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/030/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/030/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/030/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/030/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/031/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/031/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/032/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/032/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/032/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/032/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/032/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/032/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/033/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/033/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/033/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/033/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/033/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/033/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/034/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/034/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/035/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/035/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/036/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/036/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/037/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/037/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/037/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/037/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/037/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/037/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/039/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/039/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/040/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/040/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/041/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/041/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/042/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/042/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/042/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/042/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/042/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/042/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/043/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/043/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/044/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/044/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/045/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/045/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/046/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/046/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/046/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/046/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/046/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/046/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/047/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/047/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/047/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/047/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/047/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/047/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/048/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/048/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/048/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/048/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/048/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/048/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/050/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/050/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/050/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/050/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/050/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/050/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/051/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/051/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/053/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/053/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/054/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/054/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/054/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/054/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/054/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/054/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/055/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/055/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/056/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/056/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/056/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/056/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/056/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/056/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/057/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/057/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/057/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/057/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/057/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/057/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/058/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/058/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/059/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/059/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/000/lmdb/data.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/000/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ab05b449365e69ade8857d164a233e6b9ecb283f --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/000/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bfec3d55da2b1aa436c57ef9c0a95f69b7eea35e825726d815dc7f3767fc44e +size 1568768 diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/001/lmdb/data.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/001/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ab05b449365e69ade8857d164a233e6b9ecb283f 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'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/001/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/002/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/003/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/004/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/005/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/006/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/007/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/008/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/009/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/010/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/011/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: + can0: + type: existed_object + uid_list: + - can0 + is_not_rigid: true + without_colliders: true + can1: + type: existed_object + uid_list: + - can1 + is_not_rigid: true + without_colliders: true + box0: + type: existed_object + uid_list: + - box0 + is_not_rigid: true + without_colliders: true + box1: + type: existed_object + uid_list: + - box1 + is_not_rigid: true + without_colliders: true + bottle: + type: existed_object + uid_list: + - bottle + is_not_rigid: true + without_colliders: true + milk: + type: existed_object + uid_list: + - milk + is_not_rigid: true + without_colliders: true + place0: + type: existed_object + uid_list: + - place0 + is_not_rigid: true + without_colliders: true + place1: + type: existed_object + uid_list: + - place1 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-1.8, -0.1, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [-1.8, -0.03, -0.38] + orientation: [0.70711, 0.0, 0.0, -0.70711] + table_uid: table + task_name: ebench/long/shop + usd_name: scene_usds/ebench/long_horizon/scene_shop/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen_20p/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/000/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/000/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/000/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/001/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/001/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/001/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/002/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/002/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/002/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/003/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/003/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/003/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d889efcd3e404ab6c92dc9db43b80362e151b5fb Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/004/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/004/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/004/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/005/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/005/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/005/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d889efcd3e404ab6c92dc9db43b80362e151b5fb Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/006/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/006/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/006/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/007/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/007/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/007/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/008/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/008/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/009/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/009/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/010/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/010/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/010/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/011/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/011/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/011/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/012/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/012/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/012/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/013/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/013/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/013/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/014/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/014/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/015/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/015/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/015/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/015/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/015/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/015/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/015/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/015/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/016/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/016/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/016/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/016/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/016/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/016/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/016/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/016/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/017/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/017/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/017/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/017/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/017/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/017/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/017/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/017/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/018/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/018/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/018/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/018/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/018/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/018/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/018/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/018/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/019/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/019/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/019/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/019/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/019/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/019/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/019/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/019/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/020/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/020/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/020/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/020/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/020/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1edc5ba507fed7233babf84d09ca70b694066b2a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/020/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/020/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/020/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/021/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/021/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/021/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/021/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/021/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/021/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/021/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/021/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/022/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/022/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/022/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/022/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/022/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/022/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/022/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/022/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/023/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/023/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/023/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/023/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/023/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/023/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/023/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/023/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/024/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/024/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/025/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/025/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/025/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/025/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/025/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1edc5ba507fed7233babf84d09ca70b694066b2a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/025/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/025/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/025/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/026/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/026/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/026/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/026/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/026/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1edc5ba507fed7233babf84d09ca70b694066b2a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/026/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/026/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/026/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/027/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/027/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/027/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/027/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/027/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/027/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/027/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/027/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/028/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/028/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/028/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/028/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/028/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/028/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/028/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/028/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/029/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/029/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/029/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/029/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/029/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/029/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/029/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/029/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/030/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/030/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/030/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/030/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/030/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/030/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/030/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/030/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/031/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/031/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/031/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/031/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/031/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/031/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/031/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/031/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/032/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/032/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/033/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/033/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/033/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/033/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/033/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/033/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/033/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/033/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/034/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/034/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/034/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/034/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/034/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/034/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/034/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/034/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/035/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/035/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/035/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/035/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/035/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/035/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/035/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/035/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/036/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/036/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/036/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/036/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/036/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/036/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/036/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/036/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/037/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/037/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/037/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/037/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/037/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1edc5ba507fed7233babf84d09ca70b694066b2a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/037/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/037/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/037/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/038/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/038/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/038/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/038/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/038/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/038/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/038/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/038/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/039/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/039/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/039/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/039/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/039/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/039/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/039/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/039/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/040/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/040/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/040/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/040/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/040/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/040/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/040/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/040/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/041/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/041/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/041/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/041/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/041/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1edc5ba507fed7233babf84d09ca70b694066b2a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/041/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/041/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/041/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/042/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/042/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/042/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/042/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/042/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1edc5ba507fed7233babf84d09ca70b694066b2a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/042/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/042/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/042/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/043/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/043/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/043/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/043/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/043/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/043/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/043/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/043/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/044/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish/044/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/044/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/044/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/044/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/044/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/044/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/044/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/045/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/045/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/045/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/045/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/045/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d889efcd3e404ab6c92dc9db43b80362e151b5fb Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/045/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/046/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/046/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/046/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/046/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/046/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/046/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/046/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d889efcd3e404ab6c92dc9db43b80362e151b5fb Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/046/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/047/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/047/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/047/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/047/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/047/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/047/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/047/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d889efcd3e404ab6c92dc9db43b80362e151b5fb Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/047/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/048/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/048/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/048/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/048/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/048/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/048/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/048/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d889efcd3e404ab6c92dc9db43b80362e151b5fb Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/048/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/049/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/049/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/049/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/049/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/049/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/049/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/049/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..d889efcd3e404ab6c92dc9db43b80362e151b5fb Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/049/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/050/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/050/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/051/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/051/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/051/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/051/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/051/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/052/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/052/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/052/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/052/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/052/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/052/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/052/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/052/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/053/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/053/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/053/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/054/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/054/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/054/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/054/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/054/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/054/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/054/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/054/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/055/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/055/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/055/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/055/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/055/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ac06c873fc6029a606d3d1c6d5ab4c50e804fd85 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/055/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/056/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/056/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/057/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/057/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/058/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/058/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/058/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/058/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish/059/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/059/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish/059/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish/059/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish/059/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish/059/lmdb/lock.mdb 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configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5b4b4e792deb476f8cfd0dac9155a9b1d661495e Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/001/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/002/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/003/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3d5d4e45a140251fc1cb4aee76e2195f073e9452 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/004/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3d5d4e45a140251fc1cb4aee76e2195f073e9452 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/005/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen/005/lmdb/info.json 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