diff --git a/tasks/ebench/mobile_manip/detergent/000/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/001/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ 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b/tasks/ebench/mobile_manip/detergent/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/008/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/008/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/009/config.yaml b/tasks/ebench/mobile_manip/detergent/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/009/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/009/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/010/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/011/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/012/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/013/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/014/config.yaml b/tasks/ebench/mobile_manip/detergent/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/014/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/014/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No 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a/tasks/ebench/mobile_manip/detergent/030/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/030/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/030/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/031/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/032/config.yaml b/tasks/ebench/mobile_manip/detergent/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/032/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/032/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/032/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/032/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/032/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/032/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/032/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/033/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/033/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/033/lmdb/info.json @@ -0,0 +1 @@ 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+{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/049/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/049/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/049/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/050/config.yaml b/tasks/ebench/mobile_manip/detergent/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/050/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/050/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/050/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/050/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/050/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/050/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/050/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/051/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/051/lmdb/info.json new file 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a/tasks/ebench/mobile_manip/detergent/052/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/052/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/052/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/053/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and 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0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/055/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/055/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/055/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/056/config.yaml b/tasks/ebench/mobile_manip/detergent/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/056/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/056/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/056/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/056/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/056/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/056/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/056/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/057/config.yaml b/tasks/ebench/mobile_manip/detergent/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/057/config.yaml @@ -0,0 +1,457 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/layout/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # ================================== left detergent =================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent2 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + # ================================== right detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: left + translation: [-0.3, 0.2, -0.4] + orientation: [0.5, -0.5, -0.5, -0.5] + grasp: true + rel_object_uid: basket + type: object_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent3 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + # ================================== mid detergent ================================== + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.14, 0.15, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [-0.14, 0.04, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: left + translation: [0.25, -0.05, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_arm: left + type: robot_frame + right: + - name: right + cnt: 50 + grasp: false + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.2, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: false + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.25, 0.0, 0.28] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_arm: left + type: robot_frame + - name: left + cnt: 50 + grasp: false + type: reset + right: + - name: right + translation: [0.14, -0.03, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.14, 0.02, 0.0] + orientation: [0.0, 0.0, 0.70711, 0.70711] + grasp: true + rel_object_uid: detergent1 + type: object_frame + - name: right + translation: [-0.2, 0.25, 0.0] + orientation: [0.70711, -0.70711, 0.0, 0.0] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + translation: [-0.14, 0.21, 0.0] + orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985] + grasp: false + rel_object_uid: basket + type: object_frame + + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - detergent1 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent2 + obj2_uid: + - basket + position: + - top + - obj1_uid: + - detergent3 + obj2_uid: + - basket + position: + - top + mode: manual + planner: curobo + instruction: Put all the detergents into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - detergent1: + position: [0.90, 0.17, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent2: + position: [0.80, 0.07, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.15 + h: 0.15 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + detergent3: + position: [0.80, 0.26, 1.1] + orientation: [0.70711, 0.70711, 0.0, 0.0] + reset_orientation: true + w: 0.1 + h: 0.1 + angle: 0 + buffer_size: 0.05 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + detergent1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + detergent3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + basket: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.2, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 100 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.1, 0.0, 0.27] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/detergent + usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/057/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/057/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/057/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/057/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/057/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/057/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/058/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/058/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/detergent/059/lmdb/info.json b/tasks/ebench/mobile_manip/detergent/059/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/detergent/059/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/detergent/059/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent/059/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent/059/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/000/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/001/config.yaml b/tasks/ebench/mobile_manip/microwave/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/001/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/002/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/003/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/004/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/005/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/006/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/006/lmdb/lock.mdb new file mode 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b/tasks/ebench/mobile_manip/microwave/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/010/config.yaml b/tasks/ebench/mobile_manip/microwave/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/010/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/010/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/011/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/012/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/013/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/014/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/015/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/016/config.yaml b/tasks/ebench/mobile_manip/microwave/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/016/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/017/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/018/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/019/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/020/config.yaml b/tasks/ebench/mobile_manip/microwave/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/020/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/021/config.yaml b/tasks/ebench/mobile_manip/microwave/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/021/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/022/config.yaml b/tasks/ebench/mobile_manip/microwave/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/022/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/023/config.yaml b/tasks/ebench/mobile_manip/microwave/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/023/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/024/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/024/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/024/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/024/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/024/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/024/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/025/config.yaml b/tasks/ebench/mobile_manip/microwave/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/025/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/026/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/026/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/026/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/026/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/026/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/026/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/027/config.yaml b/tasks/ebench/mobile_manip/microwave/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/027/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/028/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/028/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/028/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/028/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/028/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/028/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/029/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/029/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/030/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/030/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/030/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/030/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/030/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/030/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/031/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/031/lmdb/lock.mdb new file mode 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b/tasks/ebench/mobile_manip/microwave/033/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/033/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/033/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/033/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/033/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/034/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/034/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/034/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/034/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/034/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/034/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/035/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/035/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/035/lmdb/lock.mdb new file mode 100644 index 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+{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/038/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/038/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/038/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/039/config.yaml b/tasks/ebench/mobile_manip/microwave/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/039/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/040/config.yaml b/tasks/ebench/mobile_manip/microwave/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/040/config.yaml @@ -0,0 +1,283 @@ +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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.0 + # yaw: 360 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0891, -0.3179, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.2779, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0891, -0.3119, 0.0302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0891, -0.3519, 0.1302] + orientation: [0.7071, 0.0, 0.0, 0.7071] + grasp: false + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0640, -0.1110, 0.2586] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.0640, -0.1110, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.04, -0.2818, 0.1939] + orientation: [0.0, -0.7071, 0.0, 0.7071] + grasp: true + rel_object_uid: microwave + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart2 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart2 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.137, 0.085] + orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972] + grasp: false + rel_object_uid: eggtart1 + type: object_frame + - name: right + grasp: true + cnt: 15 + type: pending + - name: right + translation: [0.0, 0.198, 0.085] + orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675] + grasp: true + rel_object_uid: eggtart1 + type: object_frame + - name: right + translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093] + orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [0.3, 0.0, 0.3] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - type: move_to + move_type: delta + delta_position: + x: 0.15 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + - name: right + translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454] + orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241] + grasp: true + rel_object_uid: microwave + type: object_frame + robot: 0 + articulation: [] + goal: + - - - obj1_uid: microwave + status: [[[[-2.0, -1.1], [-1e8, 1e8]]]] + - - - obj1_uid: microwave + status: [[[[-0.2, 0.05], [-1e8, 1e8]]]] + - obj1_uid: + - eggtart1 + obj2_uid: + - plate + position: + - top + - obj1_uid: + - eggtart2 + obj2_uid: + - plate + position: + - top + mode: manual + planner: curobo + instruction: Heat the eggtart with the microwave. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - eggtart1: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + eggtart2: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + eggtart1: + type: existed_object + uid_list: + - "02" + is_not_rigid: true + without_colliders: true + eggtart2: + type: existed_object + uid_list: + - "03" + is_not_rigid: true + without_colliders: true + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + plate: + type: existed_object + uid_list: + - "00" + is_not_rigid: true + without_colliders: true + box: + type: existed_object + uid_list: + - "01" + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + object_config: + microwave: + type: existed_object + uid_list: + - "microwave" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /group_0 + group_1: /group_1 + group_2: /group_2 + robots: + - type: manip/lift2/R5a + position: [1.0, -2.65, -0.6] + orientation: [0.70711, 0.0, 0.0, 0.70711] + table_uid: table + task_name: ebench/long/microwave + usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/041/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/041/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/041/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/041/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/041/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/041/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/042/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/042/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/042/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/042/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/042/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/042/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/043/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/043/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/043/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/043/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/043/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/043/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave/044/lmdb/info.json b/tasks/ebench/mobile_manip/microwave/044/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/microwave/044/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/microwave/044/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave/044/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave/044/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/000/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/000/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/001/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/002/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/002/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/003/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/003/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/004/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/005/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/005/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/006/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/007/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/008/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/008/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/009/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/009/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/010/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/011/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/011/config.yaml @@ -0,0 +1,197 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 40 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + # path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + path: "regex:5bc1fdefc02d428f822de5afa4920255c?\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_fix + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/012/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/012/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/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/013/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/013/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/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/014/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/014/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/015/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/015/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/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/016/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/016/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/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/017/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/017/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/018/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/018/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/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/019/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/019/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/020/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/020/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/020/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/020/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/020/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/021/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/021/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/021/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/021/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/022/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/022/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/022/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/022/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/023/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/023/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/023/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/023/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/023/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/024/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/024/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/025/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/025/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/025/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/025/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/025/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/026/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/026/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/026/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/026/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/026/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/026/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/027/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/027/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/027/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/027/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/028/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/028/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/028/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/028/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/028/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/028/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/028/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/028/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/029/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/029/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/029/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/030/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/030/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/031/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/031/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/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/032/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/032/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/033/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/033/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/034/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/034/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/034/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/034/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/034/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/034/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/035/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/035/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/035/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/035/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/035/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/036/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/036/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/036/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/036/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/036/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/036/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/037/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/037/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/038/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/038/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/038/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/038/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/038/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/038/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/038/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/038/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/039/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/039/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/039/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/039/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/040/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/040/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/040/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/040/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/041/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/041/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/041/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/041/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/041/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/041/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/042/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/042/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/043/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/043/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/043/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/043/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/043/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/043/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/044/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/044/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/044/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/044/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/044/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/044/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/045/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/045/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/045/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/045/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/045/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/046/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/046/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/047/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/047/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/048/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/048/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/049/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/049/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/049/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/049/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/049/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/049/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/049/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/049/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/050/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/050/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/051/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/051/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/051/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/051/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/052/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/052/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/052/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/052/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/052/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/052/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/052/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/052/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/053/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/053/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/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/054/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/054/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/055/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/055/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/055/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/055/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/055/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/056/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/056/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/057/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/057/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/058/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/058/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/058/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/059/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/059/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/059/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/059/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/059/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/059/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen/000/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/000/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen/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/001/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen/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/002/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen/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/003/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen/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/004/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_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/shop_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/shop_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen/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/005/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_unseen/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_unseen/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_unseen/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_test_mini/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_val_train/000/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train/000/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train/000/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/000/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train/000/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1edc5ba507fed7233babf84d09ca70b694066b2a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train/000/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/000/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train/000/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/001/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train/001/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train/001/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/001/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train/001/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train/001/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/001/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train/001/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/002/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train/002/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train/002/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/002/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train/002/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train/002/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/002/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train/002/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/003/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train/003/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train/003/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/003/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train/003/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train/003/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/003/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train/003/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/004/000/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train/004/000/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train/004/000/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/004/000/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train/004/000/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train/004/000/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train/004/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train/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/teacup_to_saucer_teapot_to_tray_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/000/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/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_20p/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_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8009ebef80a137d3da0d1e552de33be096b9e97b Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/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_20p/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_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/001/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_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/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_20p/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_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/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_20p/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_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/002/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_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/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/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/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_20p/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_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/003/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_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/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/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/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_20p/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_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/004/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_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/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/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/005/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_20p/005/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_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/005/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_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/006/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/006/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_20p/006/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_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/006/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_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/007/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_20p/007/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_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..dde2144332d5986619a55db3614481b8078864dd Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/008/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/008/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_20p/008/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_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/008/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_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/009/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/009/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_20p/009/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_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/009/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_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/010/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_20p/010/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_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/010/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_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95ab501de898cf6ade8bf626f3ca8ee6500a3ace --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/011/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_eval + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/011/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_20p/011/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_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_unseen_20p/011/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_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/000/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/001/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/002/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/003/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/004/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a93169cf7d5b67468b203e288b8e14c0a7b278af --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/005/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_eval + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e952fc1f1cfb9fd73bc3455e36f94e4ceb2b835e Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_unseen/005/lmdb/lock.mdb differ