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https://git-lfs.github.com/spec/v1 +oid sha256:3486f7b565df5d60500065392ed3d7d759bcc87fdbb79a3348438c4a1556e3aa +size 88 diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e7a60bb791beef7739b1b8ad69172aea21e1ee4e Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/config.yaml @@ -0,0 +1,162 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.4 + y: -0.1 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.2, 0.25, 0.07] + orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535] + orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126] + grasp: false + - name: right + type: object_frame + rel_object_uid: '0' + translation: [-0.1, 0.2, 0.05] + orientation: [0.707, -0.612, 0.354, 0] + grasp: true + - type: move_to + move_type: delta + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: '0' + x_type: absolute + x_range: [-10,-2.0] + y_type: none + z_type: absolute + z_range: [-1,10] + mode: manual + planner: curobo + instruction: Pick up the apple from the shelf and take it out. # update instruction + layout_config: &id003 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - 0: &id090 + pos_x: -1.897 + pos_y: -1.55 + pos_z: 0.31 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 2: &id092 + pos_x: -1.932 + pos_y: -1.55 + pos_z: -0.08 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 3: &id093 + pos_x: -1.816 + pos_y: -1.917 + pos_z: -0.1 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + - 0: *id092 + 2: *id093 + 3: *id090 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_0' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..f90b16169432ffdaecb47f2b5f428f95df95705d Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/000/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/001/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/002/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/003/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/004/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/005/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/006/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/007/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ca6ef2a3158b0687b6e0556908a3a7bcef44a68 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/008/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ced334899f70f4c5f8ff34dc0c9495765e6238c Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/009/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/010/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/011/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ca6ef2a3158b0687b6e0556908a3a7bcef44a68 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/012/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 200 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4ced334899f70f4c5f8ff34dc0c9495765e6238c Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/013/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f8ef3cb7816a444c1687f4bd2f4565c3d9662ec6 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/014/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_train + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..c6d29e7ccc6821b27da0b79be0dd43ee0075c14f Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/015/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/016/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/017/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/018/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task4_obj + usd_name: scene_usds/ebench/simple_pnp/task4/scene diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ad12e304559e34a28230b534f06a840a34997c36 Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0328ec492d4d641412eb032d1cb947cb42f4954b --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/019/config.yaml @@ -0,0 +1,198 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the apple from the dining table and place it into the fruit bowl. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.4 + random_range_y: -0.5 + random_range_w: 0.2 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '1': + random_range_x: -0.4 + random_range_y: -0.1 + random_range_w: 0.4 + random_range_h: 0.6 + random_range_angle: 0 + additional_height: 0.01 + buffer_size: 0.0 + type: global_range + '2': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '3': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '4': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + '5': + type: centric_range + angle_bilateral: true + angle: 35 + w: 0.1 + h: 0.1 + buffer_size: 0.01 + skip_on_table_check: true + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 5b293348 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + # '1': + # type: existed_object + # uid_list: + # - 5bffab7e + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - 5c800314 + '3': + type: existed_object + uid_list: + - 7b1211cd + '4': + type: existed_object + uid_list: + - afe4ab6d + '5': + type: existed_object + uid_list: + - 6bd45f5d + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.9, 0.1, -0.5] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task4_eval + usd_name: scene_usds/ebench/simple_pnp/task4/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the dining table and put it into the fruit bowl." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: 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0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_train/000/config.yaml @@ -0,0 +1,1121 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_train/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_train/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_train/001/config.yaml b/tasks/ebench/mobile_manip/bottle_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_train/001/config.yaml @@ -0,0 +1,1121 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_train/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_train/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_train/002/config.yaml b/tasks/ebench/mobile_manip/bottle_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_train/002/config.yaml @@ -0,0 +1,1121 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_train/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_train/003/config.yaml b/tasks/ebench/mobile_manip/bottle_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_train/003/config.yaml @@ -0,0 +1,1121 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_train/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_train/004/config.yaml b/tasks/ebench/mobile_manip/bottle_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_train/004/config.yaml @@ -0,0 +1,1121 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_train/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_train/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_train/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_train/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen/000/config.yaml @@ -0,0 +1,1121 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen/001/config.yaml @@ -0,0 +1,1121 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen/002/config.yaml @@ -0,0 +1,1121 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen/003/config.yaml @@ -0,0 +1,1121 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen/004/config.yaml @@ -0,0 +1,1121 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen/005/config.yaml @@ -0,0 +1,1121 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: bottle1 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle1 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle1 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle2 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle2 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle2 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle3 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle3 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle3 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle10 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle10 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle10 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle9 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle9 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle11 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle11 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle11 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.23 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.065] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle8 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle8 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle8 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.17 + y: 0.06 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.06, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle12 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle12 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle12 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle7 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle7 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle7 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.13 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.13, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle4 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle4 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle4 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.3 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.003] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle5 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle5 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle5 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.24 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.06] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + + - type: move_to + move_type: alignv2 + rel_object_uid: bottle6 + arm: right + delta_position: + x: -0.3 + y: 0.0 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + translation: [0.0, 0.15, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: false + rel_object_uid: bottle6 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: bottle6 + type: object_frame + + - type: move_to + move_type: alignv2 + rel_object_uid: basket + arm: right + grasp: true + delta_position: + x: -0.175 + y: 0.185 + yaw: null + + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.185, 0.25, 0.125] + orientation: [-0.7071067811865477, 0.0, 0.0, 0.7071067811865475] + grasp: true + rel_object_uid: basket + type: object_frame + - name: right + cnt: 15 + grasp: false + type: pending + robot: 0 + articulation: [] + goal: + - - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle3 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle4 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle5 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle6 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle7 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle8 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle9 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle10 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle11 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle12 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.14, 0.03] + y_range: [-0.21, 0.04] + z_range: [-0.05, 0.05] + x_rel_object_uid: basket + y_rel_object_uid: basket + z_rel_object_uid: basket + mode: manual + planner: curobo + instruction: Sort all the bottles into the basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bottle1: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle2: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle3: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle4: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle5: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle6: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle7: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle8: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle9: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle10: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle11: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + bottle12: + random_range_x: 0.25 + random_range_y: -0.05 + random_range_w: 0.2 + random_range_h: 0.6 + random_range_angle: 0.0 + buffer_size: 0.05 + reset_orientation: true + orientation: [0.5, 0.5, -0.5, -0.5] + type: global_range + mode: manual + num_episode: 5 + object_config: + basket: + type: existed_object + uid_list: + - "05" + is_not_rigid: true + without_colliders: true + bottle1: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle2: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle3: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle4: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle5: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle6: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle7: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle8: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle9: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + option: + - plain_replace + bottle10: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle11: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + bottle12: + type: load_object_from_path + path: 're:scene_usds/ebench/long_horizon/scene_bottle/bottle/train/.*/.*\.usd' + max_cached_num: 1000 + relative_scale: 1.0 + mass: 0.1 + option: + - plain_replace + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 3000 + robots: + - type: manip/lift2/R5a + position: [0.9, 0.3, -0.65] + orientation: [0.0, 0.0, 0.0, -1.0] + table_uid: table + task_name: ebench/long/bottle + usd_name: scene_usds/ebench/long_horizon/scene_bottle/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen/005/lmdb/lock.mdb 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b/tasks/ebench/mobile_manip/dish_val_train_20p/000/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9a250e1ae9f790f6d739ab00e9f804866d1f782f Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/001/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9a250e1ae9f790f6d739ab00e9f804866d1f782f Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/002/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..efbb8ec1d259f69ece735904116c98d13255c3a7 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/003/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4cbde5babae33a0cb173279e3e5a0b8b26ab56c2 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/004/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..3c061428ae78caaec161b27679a3bc97559e22b8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/005/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..53a8b74b9b7e87baa6ee661cfaae63d6a42549ce Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/006/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b461e8826349e10e17ee2f6a90765428c8796bc Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/007/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..21ce31e3147e929f15cb7d18e7ba98125867b1d6 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/008/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..986bd91725a5922d8e4da3b7fa5d1d76cb215b3e Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/dish_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..338ed27ef2e747df934cb8f3677761a5801c6f7b --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/009/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 250 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_train_20p/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..927185b969a168e981bd5b16ef3e10538880bd96 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_train_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/config.yaml @@ -0,0 +1,588 @@ +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/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + # =========================== dish3 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish3 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish3 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish3 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.15, 0.12] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish1 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish1 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish1 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish1 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.18, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # =========================== dish2 ========================== + - type: move_to + move_type: alignv2 + rel_object_uid: dish2 + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.2, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.15, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: dish2 + type: object_frame + - name: left + translation: [0.0, 0.3, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: dish2 + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.0, 0.27, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.0, 0.19, 0.1] + orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + + # =========================== glass =========================== + - type: move_to + move_type: alignv2 + rel_object_uid: glass + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.23, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.16, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: glass + type: object_frame + - name: left + translation: [0.05, 0.28, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: glass + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_big + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + translation: [0.05, 0.27, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: true + rel_object_uid: basket_big + type: object_frame + - name: left + translation: [0.05, 0.22, 0.05] + orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946] + grasp: false + rel_object_uid: basket_big + type: object_frame + - name: left + cnt: 50 + grasp: false + type: reset + # ================= back to original position=================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.2 + # yaw: 0.0 + + # ============================================================ + # ============================================================ + + # =========================== fork =========================== + # - type: move_to + # move_type: delta + # delta_position: + # x: 0.0 + # y: 0.3 + # yaw: 0.0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.0, 0.2, 0.01] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: false + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.154, 0.02] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - name: right + # translation: [0.0, 0.3, 0.015] + # orientation: [0.70711, 0.0, 0.0, -0.70711] + # # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + # grasp: true + # rel_object_uid: fork + # type: object_frame + # - type: move_to + # move_type: delta + # arm: right + # grasp: true + # delta_position: + # x: 0.0 + # y: -0.3 + # yaw: 0 + # - type: custom_motion + # motion_list: + # right: + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: true + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # translation: [0.07, 0.2, 0.0] + # orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + # grasp: false + # rel_object_uid: basket_small + # type: object_frame + # - name: right + # cnt: 50 + # grasp: false + # type: reset + # =========================== Spoon =========================== + - type: move_to + move_type: dalignv2 + rel_object_uid: spoon + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: false + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.155, 0.025] + orientation: [0.70711, 0.0, 0.0, -0.70711] + grasp: true + rel_object_uid: spoon + type: object_frame + - name: right + translation: [0.0, 0.3, 0.025] + orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883] + grasp: true + rel_object_uid: spoon + type: object_frame + - type: move_to + move_type: alignv2 + rel_object_uid: basket_small + arm: right + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: true + rel_object_uid: basket_small + type: object_frame + - name: right + translation: [0.07, 0.2, 0.0] + orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945] + grasp: false + rel_object_uid: basket_small + type: object_frame + - name: right + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - dish1 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish2 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - dish3 + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - glass + obj2_uid: + - basket_big + position: + - top + - obj1_uid: + - spoon + obj2_uid: + - basket_small + position: + - top + mode: manual + planner: curobo + instruction: Put all the dishes into the big basket and the spoon into the small basket. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - dish1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.02 + dish2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + dish3: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + glass: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + buffer_size: 0.03 + spoon: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_big: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + basket_small: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + dish1: + type: existed_object + uid_list: + - dish1 + is_not_rigid: true + without_colliders: true + dish2: + type: existed_object + uid_list: + - dish2 + is_not_rigid: true + without_colliders: true + dish3: + type: existed_object + uid_list: + - dish3 + is_not_rigid: true + without_colliders: true + glass: + type: existed_object + uid_list: + - glass + is_not_rigid: true + without_colliders: true + spoon: + type: existed_object + uid_list: + - spoon + is_not_rigid: true + without_colliders: true + basket_big: + type: existed_object + uid_list: + - basket_big + is_not_rigid: true + without_colliders: true + basket_small: + type: existed_object + uid_list: + - basket_small + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [0.75, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene +evaluation_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + num_test: 10 + num_steps: 5000 + robots: + - type: manip/lift2/R5a + position: [0.85, 0.0, -0.65] + orientation: [0.0, 0.0, 0.0, 1.0] + table_uid: table + task_name: ebench/long/dish + usd_name: scene_usds/ebench/long_horizon/scene_dish/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dish_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/dish_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8 Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/000/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/001/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/002/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/003/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/004/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/005/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/006/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/007/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/008/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/009/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/010/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/011/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/012/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/013/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/014/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/015/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/016/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/017/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/018/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/dishwasher_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/019/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_test_mini/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_test_mini/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_test_mini/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_test_mini/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/000/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/001/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/002/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/003/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/004/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/005/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/006/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/007/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/008/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/009/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/010/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/011/config.yaml @@ -0,0 +1,394 @@ +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_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3 + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/DomeLight + type: dome_light + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$' + - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$' + 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: move_to + move_type: delta + delta_position: + x: 0.1 + y: -0.35 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl2 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl2 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398] + orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.2 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.2 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: true + cnt: 50 + type: reset + right: + - name: right + grasp: true + cnt: 50 + type: reset + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: -0.5 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.45 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + left: + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - name: left + translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] + orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396] + grasp: false + rel_object_uid: bowl1 + type: object_frame + - name: left + grasp: true + cnt: 15 + type: pending + - name: left + translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185] + orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273] + grasp: true + rel_object_uid: bowl1 + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: -0.45 + y: 0.0 + yaw: 0.0 + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.0 + y: 0.5 + yaw: 0.0 + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: left + grasp: false + cnt: 15 + type: pending + - name: left + grasp: false + cnt: 50 + type: reset + - type: custom_motion + motion_list: + left: + - name: left + grasp: true + cnt: 1 + type: pending + right: + - name: right + translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033] + orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642] + grasp: true + rel_object_uid: washmachine + type: object_frame + - name: right + translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639] + orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711] + grasp: true + cnt: 200 + rel_object_uid: washmachine + type: object_frame + - type: move_to + move_type: delta + arm: left + grasp: true + delta_position: + x: 0.25 + y: 0.0 + yaw: 0.0 + robot: 0 + articulation: [] + goal: + - - - obj1_uid: washmachine + status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]] + - - - obj1_uid: washmachine + status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]] + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl1 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bowl2 + x_type: relative + y_type: relative + z_type: relative + x_range: [-0.20, 0.23] + y_range: [-0.30, 0.27] + z_range: [-0.20, 0.25] + x_rel_object_uid: washmachine + y_rel_object_uid: washmachine + z_rel_object_uid: washmachine + succ_cnts: 40 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Put all the bowls into the dishwasher. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - bowl1: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bowl2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: + bowl1: + type: existed_object + uid_list: + - "bowl1" + is_not_rigid: true + without_colliders: true + bowl2: + type: existed_object + uid_list: + - "bowl2" + is_not_rigid: true + without_colliders: true + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [1.0, -0.45, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/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: + washmachine: + type: existed_object + uid_list: + - "washmachine" + is_articulated: true + articulation_info: + is_articulated: true + part: + group_0: /Instance/Group_160 + group_1: /Instance/Group_140 + group_2: /Instance/Group_220 + group_3: /Instance/Group_00 + robots: + - type: manip/lift2/R5a + position: [1.0, -0.45, 0.15] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/dishwasher + usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 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diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/049/meta_info.pkl b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/049/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..c1f0d13d36f80cc14260f1e6397c3bd56a895f1a --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/049/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:426aa4932a3ed0b989ed12afa8d72ff4dc2c32f40f9dd087b8e2bb570789c4d2 +size 10911 diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/052/meta_info.pkl b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/052/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..005a88afe0453308abd85827017b47005858ec11 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack/052/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b3a0a5b5f1c3e56ae3708f99a8eb9c214e5bc2e20a4cad32e39d0609ff160af +size 10315 diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/001/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_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/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_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/004/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_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/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_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/007/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/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_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/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_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/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_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/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_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/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_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/013/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/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_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/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_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/016/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/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_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/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_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/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_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..14fc0902bcf46c5e09e622d7440b57ca45245758 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/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_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a4b54a63fd727739f973c2e04456773837bb43da Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_test_mini/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/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_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/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_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/002/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_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/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_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/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_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b69a54e771faa6ab2097c5acfc76cd09a7d9a3d7 Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/config.yaml @@ -0,0 +1,196 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.00155, 0.06608, -0.07523236] + orientation: [1, 0, 0, 0] + - translation: [-0.01312671, -0.05062755, -0.05525166] # top mid + orientation: [1, 0, 0, 0] + - translation: [ 0.10248329, 0.02695245, -0.05525166] # top corner + orientation: [1, 0, 0, 0] + - translation: [-0.12582671, -0.01152755, -0.05525166] + orientation: [1, 0, 0, 0] + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + motion_config: + post_grasp_distance: 0.30 + # place_distance: -0.10 + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + robot: 0 + articulation: [] + goal: + - - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: "0" + x_type: none + y_type: none + z_type: absolute + z_range: [0.0, 0.08] + + mode: manual + planner: curobo + instruction: Pick up the perfume from the vanity table and place it into the cosmetics rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.2 + random_range_y: -0.1 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + buffer_size: 0.01 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '3': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '4': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + '5': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/perfume_bottle/ready/.*\\.usd$" + relative_scale: 0.3 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_04' # update uid + '3': + type: existed_object + uid_list: + - '_07' # update uid + '4': + type: existed_object + uid_list: + - '_05' # update uid + '5': + type: existed_object + uid_list: + - '_03' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.90, -0.23, -0.4] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task6_ready + usd_name: scene_usds/ebench/simple_pnp/task6/scene + + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the perfume from the vanity table and place it in the cosmetics rack." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task6_obj + usd_name: scene_usds/ebench/simple_pnp/task6/scene diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/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_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/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_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2769184257681cd1a93685a80862da4cabc4dc60 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/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_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..4c466eb6331ac66a6e528690d03f03b2688386fe Binary files /dev/null and b/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train_20p/009/lmdb/lock.mdb differ diff 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0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/shop_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7 Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/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: 250 + 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_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/001/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + 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_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..6def4a7ca3927dd21a4e3faf4aa071c5aefbc4ac Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/002/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + 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_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/003/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + 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_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/004/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + 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_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/005/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + 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_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/006/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + 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_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/007/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + 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_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1a1b1aa35d2f81d5d44d7cbd8d06a82aa54d99ff Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/shop_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/008/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + 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_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/shop_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5c0c0517d8dd489c5d3bde3794706993570003cc --- /dev/null +++ b/tasks/ebench/mobile_manip/shop_val_train_20p/009/config.yaml @@ -0,0 +1,1018 @@ +demonstration_configs: +- domain_randomization: + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$' + - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: + mode: manual + actions: + - type: move_to + move_type: alignv2 + rel_object_uid: box0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.25] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.17, 0.07] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.35] + orientation: [0.5, 0.5, 0.5, -0.5] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.0, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: bottle + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: bottle + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: bottle + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: milk + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: milk + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: milk + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: box1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: box1 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: box1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.25, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.35, -0.05, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.35, -0.1, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can1 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can1 + type: object_frame + - name: right + translation: [0.0, 0.4, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can1 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + - type: move_to + move_type: alignv2 + rel_object_uid: can0 + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.3, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.2, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: false + rel_object_uid: can0 + type: object_frame + - name: right + translation: [0.0, 0.35, 0.0] + orientation: [-0.5, 0.5, -0.5, 0.5] + grasp: true + rel_object_uid: can0 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.3, -0.15, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - name: left + translation: [0.3, -0.2, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + cnt: 15 + grasp: true + type: pending + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.15, 0.3] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_arm: right + type: robot_frame + - name: right + grasp: false + arm: right + cnt: 50 + type: reset + left: + - name: left + translation: [0.3, -0.1, 0.03] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.4, 0.1, 0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: move_to + move_type: alignv2 + rel_object_uid: place0 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + cnt: 15 + grasp: true + type: pending + - type: move_to + move_type: alignv2 + rel_object_uid: place1 + arm: left + grasp: true + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + grasp: false + arm: left + cnt: 50 + type: reset + robot: 0 + articulation: [] + goal: + - - - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-2.12, -1.59] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + never_reset: true + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: milk + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: bottle + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: box1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can0 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + - type: manip/default/sr_based_genmanip_range + obj1_uid: can1 + x_type: absolute + y_type: absolute + z_type: none + x_range: [-1.59, -0.75] + y_range: [-1.05, -0.48] + z_range: [0.0, 0.0] + succ_cnts: 30 + skip_steps: 5 + mode: manual + planner: curobo + instruction: Scan all the items at the checkout counter. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - box0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: false + type: centric_range + box1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can0: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + can1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + milk: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + bottle: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 250 + 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/meta_info.pkl 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a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/000/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/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/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_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/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_train/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_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/000/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_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/001/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/001/config.yaml @@ -0,0 +1,235 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: pick_and_place + obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + allow_fixed_grasp: true + force_fixed_grasp: true + # pick position + fixed_grasp_config: + translation: [0.04, 0.0, 0.0] + gripper_rot_config: + axis: x + angle: 90 + # placed position + fixed_position: true + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + post_grasp_distance: 0.2 + post_place_distance: 0.15 + - type: pick_and_place + obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + # pick position + fixed_grasp_config: + translation: [0.01, -0.06, 0.0] + gripper_rot_config: + axis: x + angle: 80 + allow_fixed_grasp: true + force_fixed_grasp: true + # place position + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [-0.01, 0.02, 0] + orientation: [1, 0, 0, 0] + arm: auto + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + motion_config: + pre_grasp_distance: 0.02 + grasp_distance: -0.02 + post_grasp_distance: 0.1 + robot: 0 + # reset_tcp: true + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + - obj1_uid: + - '2' + obj2_uid: + - '3' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '0': + random_range_x: -0.3 + random_range_y: -0.0 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [0.53383, 0.0, 0.0 , 0.84559] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.01 + # h: 0.01 + # buffer_size: 0.0 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 0 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.0 + '2': + random_range_x: -0.3 + random_range_y: -0.15 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + reset_orientation: true + buffer_size: 0.01 + type: global_range + '3': + random_range_x: -0.4 + random_range_y: 0.1 + random_range_w: 0.3 + random_range_h: 0.4 + random_range_angle: 15 + additional_height: 0.01 + # orientation: [1, 0, 0.0 , 0.0 ] + # reset_orientation: true + buffer_size: 0.01 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03' + # '2': + # type: existed_object + # uid_list: + # - '_01' + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '3': + type: existed_object + uid_list: + - '0' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + robots: + - &id006 + type: manip/lift2/R5a + position: [-0.97, 0.1, -0.5] # update to fit the scene + # orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task9_train + usd_name: scene_usds/ebench/simple_pnp/task9/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task9_obj + usd_name: scene_usds/ebench/simple_pnp/task9/scene diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/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_train/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_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/001/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_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/002/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/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_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/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_train/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_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757 Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/003/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/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_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/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_train/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_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/003/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_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/004/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1 --- /dev/null +++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train/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_train/004/lmdb/info.json 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b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_train/004/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_train/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_train/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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"fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/000/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", 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b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/001/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, 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"fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/002/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": 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"fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/003/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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"fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_val_unseen/003/lmdb/lock.mdb differ diff --git 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b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", 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--git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": 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a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", 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0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": 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{"articulation_id": "glass", "part_name": "link_1", "prim_path": "/World/_scene/obj_glass/Instance/link_1"}}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", 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"part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": "/World/_scene/obj_glass/Instance/base"}, "glass/link_0": {"articulation_id": "glass", "part_name": "link_0", "prim_path": "/World/_scene/obj_glass/Instance/link_0"}, "glass/link_1": {"articulation_id": "glass", "part_name": "link_1", "prim_path": "/World/_scene/obj_glass/Instance/link_1"}}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": 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"/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {"glassbox/group_2": {"articulation_id": "glassbox", "part_name": "group_2", "prim_path": "/World/_scene/obj_glassbox/Instance/group_2"}, "glassbox/group_1": {"articulation_id": "glassbox", "part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": "/World/_scene/obj_glass/Instance/base"}, "glass/link_0": {"articulation_id": "glass", "part_name": "link_0", "prim_path": "/World/_scene/obj_glass/Instance/link_0"}, "glass/link_1": {"articulation_id": "glass", "part_name": "link_1", "prim_path": "/World/_scene/obj_glass/Instance/link_1"}}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {"glassbox/group_2": {"articulation_id": "glassbox", "part_name": "group_2", "prim_path": "/World/_scene/obj_glassbox/Instance/group_2"}, "glassbox/group_1": {"articulation_id": "glassbox", "part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": "/World/_scene/obj_glass/Instance/base"}, "glass/link_0": {"articulation_id": "glass", "part_name": "link_0", "prim_path": "/World/_scene/obj_glass/Instance/link_0"}, "glass/link_1": {"articulation_id": "glass", "part_name": "link_1", "prim_path": "/World/_scene/obj_glass/Instance/link_1"}}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen_20p/011/lmdb/lock.mdb differ