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10269 diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train/000/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/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/000/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/000/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/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train/001/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/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/001/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/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/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train/002/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/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/002/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/002/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/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train/003/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/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/003/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_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/apple_from_shelf_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..944ebe560a8b73baa35e2c70e274ba717a84db2b Binary files /dev/null and b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train/004/config.yaml b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56f6ca967e3e26b44610fc436893521362324711 --- /dev/null +++ b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/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$" + relative_scale: 0.8 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_03_01' # update uid + '2': + type: existed_object + uid_list: + - '_07' # juice + '3': + type: existed_object + uid_list: + - '_02_01' # orange + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-3.0, -1.37, -0.45] # update to fit the scene + # update following + table_uid: table + task_name: ebench/simple_pnpa/task8_train + usd_name: scene_usds/ebench/simple_pnp/task8/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the apple from the shelf and take it out." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 600 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task8_obj + usd_name: scene_usds/ebench/simple_pnp/task8/scene diff --git a/tasks/ebench/mobile_manip/apple_from_shelf_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/apple_from_shelf_val_train/004/lmdb/info.json new file 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type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - 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/000/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/001/config.yaml b/tasks/ebench/mobile_manip/bottle/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/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/001/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/002/config.yaml b/tasks/ebench/mobile_manip/bottle/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/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/002/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/003/config.yaml b/tasks/ebench/mobile_manip/bottle/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/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/003/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/004/config.yaml b/tasks/ebench/mobile_manip/bottle/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/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/004/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/005/config.yaml b/tasks/ebench/mobile_manip/bottle/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/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/005/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/006/config.yaml b/tasks/ebench/mobile_manip/bottle/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/006/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/006/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/007/config.yaml b/tasks/ebench/mobile_manip/bottle/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/007/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/007/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/008/config.yaml b/tasks/ebench/mobile_manip/bottle/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/008/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/008/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/009/config.yaml b/tasks/ebench/mobile_manip/bottle/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/009/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/009/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/010/config.yaml b/tasks/ebench/mobile_manip/bottle/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/010/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/010/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/011/config.yaml b/tasks/ebench/mobile_manip/bottle/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/011/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/011/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/012/config.yaml b/tasks/ebench/mobile_manip/bottle/012/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/012/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/012/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/013/config.yaml b/tasks/ebench/mobile_manip/bottle/013/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/013/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/013/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/014/config.yaml b/tasks/ebench/mobile_manip/bottle/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/014/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/014/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/015/config.yaml b/tasks/ebench/mobile_manip/bottle/015/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/015/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/015/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/016/config.yaml b/tasks/ebench/mobile_manip/bottle/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/016/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/016/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/017/config.yaml b/tasks/ebench/mobile_manip/bottle/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/017/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/017/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/018/config.yaml b/tasks/ebench/mobile_manip/bottle/018/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/018/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/018/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/019/config.yaml b/tasks/ebench/mobile_manip/bottle/019/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/019/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/019/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/020/config.yaml b/tasks/ebench/mobile_manip/bottle/020/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/020/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/020/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/020/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/020/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/020/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/021/config.yaml b/tasks/ebench/mobile_manip/bottle/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/021/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/021/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/021/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/021/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/022/config.yaml b/tasks/ebench/mobile_manip/bottle/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/022/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/022/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/022/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/022/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/023/config.yaml b/tasks/ebench/mobile_manip/bottle/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/023/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/023/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/023/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/023/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/023/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/024/config.yaml b/tasks/ebench/mobile_manip/bottle/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/024/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/024/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/024/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/024/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/024/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/024/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/024/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/025/config.yaml b/tasks/ebench/mobile_manip/bottle/025/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/025/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/025/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/025/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/025/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/025/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/026/config.yaml b/tasks/ebench/mobile_manip/bottle/026/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/026/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/026/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/026/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/026/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/026/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/026/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/026/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/027/config.yaml b/tasks/ebench/mobile_manip/bottle/027/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/027/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/027/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/027/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/027/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/028/config.yaml b/tasks/ebench/mobile_manip/bottle/028/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/028/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/028/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/028/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/028/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/028/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/028/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/028/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/029/config.yaml b/tasks/ebench/mobile_manip/bottle/029/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/029/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/029/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/029/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/030/config.yaml b/tasks/ebench/mobile_manip/bottle/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/030/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/030/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/030/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/030/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/030/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/030/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/030/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/031/config.yaml b/tasks/ebench/mobile_manip/bottle/031/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/031/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/031/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/032/config.yaml b/tasks/ebench/mobile_manip/bottle/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/032/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/032/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/032/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/032/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/032/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/032/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/032/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/033/config.yaml b/tasks/ebench/mobile_manip/bottle/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/033/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/033/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/033/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/033/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/033/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/033/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/033/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/034/config.yaml b/tasks/ebench/mobile_manip/bottle/034/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/034/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/034/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/034/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/034/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/034/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/034/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/034/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/035/config.yaml b/tasks/ebench/mobile_manip/bottle/035/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/035/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/035/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/035/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/035/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/035/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/036/config.yaml b/tasks/ebench/mobile_manip/bottle/036/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/036/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/036/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/036/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/036/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/036/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/036/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/037/config.yaml b/tasks/ebench/mobile_manip/bottle/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/037/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/037/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/037/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/037/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/037/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/037/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/037/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/038/config.yaml b/tasks/ebench/mobile_manip/bottle/038/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/038/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/038/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/038/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/038/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/038/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/038/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/038/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/039/config.yaml b/tasks/ebench/mobile_manip/bottle/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/039/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/039/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/039/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/039/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/039/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/040/config.yaml b/tasks/ebench/mobile_manip/bottle/040/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/040/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/040/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/040/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/040/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/041/config.yaml b/tasks/ebench/mobile_manip/bottle/041/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/041/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/041/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/041/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/041/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/041/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/041/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/041/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/042/config.yaml b/tasks/ebench/mobile_manip/bottle/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/042/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/042/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/042/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/042/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/042/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/042/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/042/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/043/config.yaml b/tasks/ebench/mobile_manip/bottle/043/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/043/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/043/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/043/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/043/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/043/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/043/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/043/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/044/config.yaml b/tasks/ebench/mobile_manip/bottle/044/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/044/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/044/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/044/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/044/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/044/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/044/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/044/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/045/config.yaml b/tasks/ebench/mobile_manip/bottle/045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/045/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/045/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/045/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/045/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/045/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/046/config.yaml b/tasks/ebench/mobile_manip/bottle/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/046/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/046/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/046/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/046/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/046/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/046/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/046/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/047/config.yaml b/tasks/ebench/mobile_manip/bottle/047/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/047/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/047/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/047/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/047/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/047/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/047/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/047/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/048/config.yaml b/tasks/ebench/mobile_manip/bottle/048/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/048/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/048/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/048/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/048/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/048/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/048/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/048/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/049/config.yaml b/tasks/ebench/mobile_manip/bottle/049/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/049/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/049/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/049/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/049/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/049/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/049/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/049/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/050/config.yaml b/tasks/ebench/mobile_manip/bottle/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/050/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/050/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/050/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/050/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/050/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/050/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/050/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/051/config.yaml b/tasks/ebench/mobile_manip/bottle/051/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/051/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/051/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/051/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/051/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/052/config.yaml b/tasks/ebench/mobile_manip/bottle/052/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/052/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/052/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/052/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/052/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/052/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/052/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/052/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/053/config.yaml b/tasks/ebench/mobile_manip/bottle/053/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/053/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/053/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/054/config.yaml b/tasks/ebench/mobile_manip/bottle/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/054/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/054/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/054/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/054/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/054/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/054/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/054/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/055/config.yaml b/tasks/ebench/mobile_manip/bottle/055/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/055/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/055/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/055/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/055/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/055/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/056/config.yaml b/tasks/ebench/mobile_manip/bottle/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/056/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/056/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/056/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/056/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/056/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/056/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/056/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/057/config.yaml b/tasks/ebench/mobile_manip/bottle/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/057/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/057/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/057/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/057/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/057/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/057/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/057/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/058/config.yaml b/tasks/ebench/mobile_manip/bottle/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/058/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/058/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/058/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle/059/config.yaml b/tasks/ebench/mobile_manip/bottle/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/059/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/059/lmdb/info.json b/tasks/ebench/mobile_manip/bottle/059/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle/059/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/bottle/059/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle/059/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle/059/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_train_20p/000/lmdb/data.mdb b/tasks/ebench/mobile_manip/bottle_val_train_20p/000/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..b4c3e09e83a6b1433bb1989782ca676bd6a3d6a6 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_train_20p/000/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a3d84773e2e5c9912e1b8d7a1f7ead7844cfb33209bb2a54682b21ee547e61c +size 19804160 diff --git a/tasks/ebench/mobile_manip/bottle_val_train_20p/000/meta_info.pkl b/tasks/ebench/mobile_manip/bottle_val_train_20p/000/meta_info.pkl new file mode 100644 index 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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_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/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_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/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_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/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_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/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_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/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_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/006/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_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/007/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_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/008/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_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/009/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_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/010/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_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bottle_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fff3e9f4f74647d53466b6774d99e80fc4554fb --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/011/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_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bottle_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/bottle_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..fab1d7cd411193766bbb5ff573dcfb3ed2b0316d Binary files /dev/null and b/tasks/ebench/mobile_manip/bottle_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/000/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/001/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/002/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/003/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..395142d0a942d5780f1f6036b881f418d397f74a Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/004/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/005/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/006/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/007/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/008/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..ae50e17c7bbb49852ba15eac4bb53b9e48dea73d Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6a86e6e79513848bc4bf054af9d001ea5124b2a --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/009/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/train/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_train + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..31706c7871566a0a4a1b549422a0838a55fb5d2b Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/010/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task10_obj + usd_name: scene_usds/ebench/simple_pnp/task10/scene diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_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/bowl_to_plate_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..af5cfa0bb6f52c2eb55c42010e5b7fc4a7d7df2c Binary files /dev/null and b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6bc3fca016b2c75b8271bad1c340a2a70da84fe --- /dev/null +++ b/tasks/ebench/mobile_manip/bowl_to_plate_val_unseen_20p/011/config.yaml @@ -0,0 +1,201 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '6' + position: + - top + fixed_position: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + force_fixed_grasp: true + allow_fixed_grasp: true + fixed_grasp_config: + translation: [0.0, 0.06, 0.0] + # gripper_rot_config: + # axis: x + # angle: 90 + fixed_position: true + fixed_position_config: # apply delta to the final object position to be placed + - translation: [0, 0.04, 0] + orientation: [1, 0, 0, 0] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + 3: + - x: -0.2 + y: 0.0 + yaw: 0.0 + type: delta + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + motion_config: + pre_grasp_distance: 0.08 + post_grasp_distance: 0.30 + pre_place_distance: 0.16 + post_place_distance: 0.08 + mode: manual + planner: curobo + instruction: Take out one of the three bowls and stack on the plate. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # skip_on_table_check: true + # angle_bilateral: true + # angle: 0 + # w: 0.005 + # h: 0.005 + # buffer_size: 0.005 + - 0: &id090 + pos_x: 2.58301 + pos_y: -1.79701 + pos_z: -0.115 + additional_height: 0 + random_range_angle: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + type: fixed_global_range + skip_on_table_check: true + 1: &id092 + pos_x: 2.71502 + pos_y: -1.88971 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 2: &id093 + pos_x: 2.77327 + pos_y: -1.72668 + pos_z: -0.115 + additional_height: 0 + orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ] + reset_orientation: true + random_range_angle: 0 + type: fixed_global_range + skip_on_table_check: true + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + - 0: *id092 + 1: *id093 + 2: *id090 + 6: + type: centric_range + angle_bilateral: true + angle: 0 + w: 0.1 + h: 0.1 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - 'a' + # - 'a_01' + # - 'a_02' + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '2': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/bowl/ready/.*\\.usd$" + relative_scale: 0.6 + option: + - plain_replace + without_colliders: false + '6': + type: existed_object + uid_list: + - '_06' + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [2.07, -1.35, -0.60] + # position: [-0.88, 0.134, -0.432] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task10_eval + usd_name: scene_usds/ebench/simple_pnp/task10/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Take out one of the three bowls and stack it on the plate." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: + - *id005 + - type: rigid_body + robots: + - *id006 + table_uid: 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diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train_20p/009/meta_info.pkl b/tasks/ebench/mobile_manip/dishwasher_val_train_20p/009/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..ed908f6e42fabf0ee6f8a18943ea3df1654d9182 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_train_20p/009/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cfe028ddfd73d57d9f2cefe41e563111c2f376fe6048e1568e6a4be05ee5e63f +size 11674 diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen/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/000/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen/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/001/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen/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/002/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen/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/003/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen/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/004/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_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/dishwasher_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69 Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/dishwasher_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568 --- /dev/null +++ b/tasks/ebench/mobile_manip/dishwasher_val_unseen/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/005/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ 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robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train/001/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_val_train/001/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train/002/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_val_train/002/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train/003/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_val_train/003/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train/004/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99f5fffe482de93d23e2849ef9796e5602285999 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_val_train/004/config.yaml @@ -0,0 +1,303 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: move_to + move_type: delta + delta_position: + x: 0.3 + y: 0.0 + yaw: 0.0 + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread2 + type: object_frame + - name: right + translation: [0.0, 0.3, 0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [0.0, 0.3, -0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.2, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: false + rel_object_uid: beef + type: object_frame + - name: left + translation: [-0.3, 0.0, -0.05] + orientation: [1.0, 0.0, 0.0, 0.0] + grasp: true + rel_object_uid: beef + type: object_frame + - name: left + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: false + rel_object_uid: lettuce + type: object_frame + - name: right + translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052] + orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611] + grasp: true + rel_object_uid: lettuce + type: object_frame + left: + - name: left + translation: [-0.015, 0.32, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [-0.015, 0.33, 0.03] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.015, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: right + translation: [-0.015, 0.38, -0.08] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + left: + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.1] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: false + rel_object_uid: bread4 + type: object_frame + - name: left + translation: [0.0, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_object_uid: bread4 + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [0.3, 0.0, 0.2] + orientation: [0.707, 0.0, 0.707, 0.0] + grasp: true + rel_arm: right + type: robot_frame + left: + - name: left + translation: [0.0, 0.38, -0.1] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: true + rel_object_uid: plate + type: object_frame + - name: left + translation: [0.0, 0.38, 0.05] + orientation: [0.5, -0.5, 0.5, -0.5] + grasp: false + rel_object_uid: plate + type: object_frame + robot: 0 + articulation: [] + reset_tcp: 0.2 + goal: + - - &id005 + obj1_uid: + - bread2 + obj2_uid: + - plate + position: + - top + - &id006 + obj1_uid: + - beef + obj2_uid: + - bread2 + position: + - top + - obj1_uid: + - lettuce + obj2_uid: + - beef + position: + - top + - obj1_uid: + - bread4 + obj2_uid: + - lettuce + position: + - top + mode: manual + planner: curobo + instruction: Make a sandwich in the plate. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - plate: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread2: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + lettuce: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + bread4: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + beef: + w: 0.1 + h: 0.1 + angle: 0 + angle_bilateral: false + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + beef: + type: existed_object + uid_list: + - beef + is_not_rigid: true + without_colliders: true + plate: + type: existed_object + uid_list: + - plate + is_not_rigid: true + without_colliders: true + bread2: + type: existed_object + uid_list: + - bread2 + is_not_rigid: true + without_colliders: true + lettuce: + type: existed_object + uid_list: + - lettuce + is_not_rigid: true + without_colliders: true + bread4: + type: existed_object + uid_list: + - bread4 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base +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: [-0.75, 0.0, 0.5] + table_uid: instance + task_name: ebench/long/make_sandwich + usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/make_sandwich_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/make_sandwich_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2a5654297f76afa52b94e02491785d59d046c15d Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/microwave_val_train_20p/000/lmdb/data.mdb b/tasks/ebench/mobile_manip/microwave_val_train_20p/000/lmdb/data.mdb new file mode 100644 index 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"/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dish/050" + } + ] + }, + { + "task_name": "dishwasher", + "source_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher", + "target_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher_val_unseen_20p", + "num_episodes": 12, + "mode": "copy", + "sampled_episodes": [ + { + "target_seed": "000", + "source_seed": "001", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/001" + }, + { + "target_seed": "001", + "source_seed": "007", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/007" + }, + { + "target_seed": "002", + "source_seed": "012", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/012" + }, + { + "target_seed": "003", + "source_seed": "015", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/015" + }, + { + "target_seed": "004", + "source_seed": "017", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/017" + }, + { + "target_seed": "005", + "source_seed": "021", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/021" + }, + { + "target_seed": "006", + "source_seed": "031", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/031" + }, + { + "target_seed": "007", + "source_seed": "037", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/037" + }, + { + "target_seed": "008", + "source_seed": "040", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/040" + }, + { + "target_seed": "009", + "source_seed": "045", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/045" + }, + { + "target_seed": "010", + "source_seed": "046", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/046" + }, + { + "target_seed": "011", + "source_seed": "054", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/dishwasher/054" + } + ] + }, + { + "task_name": "fruit", + "source_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit", + "target_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit_val_unseen_20p", + "num_episodes": 12, + "mode": "copy", + "sampled_episodes": [ + { + "target_seed": "000", + "source_seed": "003", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/003" + }, + { + "target_seed": "001", + "source_seed": "006", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/006" + }, + { + "target_seed": "002", + "source_seed": "009", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/009" + }, + { + "target_seed": "003", + "source_seed": "010", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/010" + }, + { + "target_seed": "004", + "source_seed": "014", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/014" + }, + { + "target_seed": "005", + "source_seed": "021", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/021" + }, + { + "target_seed": "006", + "source_seed": "023", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/023" + }, + { + "target_seed": "007", + "source_seed": "027", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/027" + }, + { + "target_seed": "008", + "source_seed": "044", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/044" + }, + { + "target_seed": "009", + "source_seed": "050", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/050" + }, + { + "target_seed": "010", + "source_seed": "052", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/052" + }, + { + "target_seed": "011", + "source_seed": "057", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/fruit/057" + } + ] + }, + { + "task_name": "make_sandwich", + "source_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich", + "target_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich_val_unseen_20p", + "num_episodes": 12, + "mode": "copy", + "sampled_episodes": [ + { + "target_seed": "000", + "source_seed": "001", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/001" + }, + { + "target_seed": "001", + "source_seed": "002", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/002" + }, + { + "target_seed": "002", + "source_seed": "004", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/004" + }, + { + "target_seed": "003", + "source_seed": "007", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/007" + }, + { + "target_seed": "004", + "source_seed": "012", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/012" + }, + { + "target_seed": "005", + "source_seed": "014", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/014" + }, + { + "target_seed": "006", + "source_seed": "025", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/025" + }, + { + "target_seed": "007", + "source_seed": "034", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/034" + }, + { + "target_seed": "008", + "source_seed": "036", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/036" + }, + { + "target_seed": "009", + "source_seed": "038", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/038" + }, + { + "target_seed": "010", + "source_seed": "040", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/040" + }, + { + "target_seed": "011", + "source_seed": "042", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/make_sandwich/042" + } + ] + }, + { + "task_name": "microwave", + "source_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave", + "target_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave_val_unseen_20p", + "num_episodes": 12, + "mode": "copy", + "sampled_episodes": [ + { + "target_seed": "000", + "source_seed": "001", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/001" + }, + { + "target_seed": "001", + "source_seed": "002", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/002" + }, + { + "target_seed": "002", + "source_seed": "003", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/003" + }, + { + "target_seed": "003", + "source_seed": "005", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/005" + }, + { + "target_seed": "004", + "source_seed": "007", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/007" + }, + { + "target_seed": "005", + "source_seed": "011", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/011" + }, + { + "target_seed": "006", + "source_seed": "012", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/012" + }, + { + "target_seed": "007", + "source_seed": "013", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/013" + }, + { + "target_seed": "008", + "source_seed": "023", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/023" + }, + { + "target_seed": "009", + "source_seed": "030", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/030" + }, + { + "target_seed": "010", + "source_seed": "038", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/038" + }, + { + "target_seed": "011", + "source_seed": "042", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/microwave/042" + } + ] + }, + { + "task_name": "pen", + "source_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen", + "target_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen_val_unseen_20p", + "num_episodes": 12, + "mode": "copy", + "sampled_episodes": [ + { + "target_seed": "000", + "source_seed": "001", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/001" + }, + { + "target_seed": "001", + "source_seed": "004", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/004" + }, + { + "target_seed": "002", + "source_seed": "006", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/006" + }, + { + "target_seed": "003", + "source_seed": "014", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/014" + }, + { + "target_seed": "004", + "source_seed": "016", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/016" + }, + { + "target_seed": "005", + "source_seed": "027", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/027" + }, + { + "target_seed": "006", + "source_seed": "034", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/034" + }, + { + "target_seed": "007", + "source_seed": "039", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/039" + }, + { + "target_seed": "008", + "source_seed": "041", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/041" + }, + { + "target_seed": "009", + "source_seed": "043", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/043" + }, + { + "target_seed": "010", + "source_seed": "051", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/051" + }, + { + "target_seed": "011", + "source_seed": "059", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/pen/059" + } + ] + }, + { + "task_name": "shop", + "source_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop", + "target_task_dir": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop_val_unseen_20p", + "num_episodes": 12, + "mode": "copy", + "sampled_episodes": [ + { + "target_seed": "000", + "source_seed": "002", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/002" + }, + { + "target_seed": "001", + "source_seed": "003", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/003" + }, + { + "target_seed": "002", + "source_seed": "006", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/006" + }, + { + "target_seed": "003", + "source_seed": "011", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/011" + }, + { + "target_seed": "004", + "source_seed": "019", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/019" + }, + { + "target_seed": "005", + "source_seed": "022", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/022" + }, + { + "target_seed": "006", + "source_seed": "025", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/025" + }, + { + "target_seed": "007", + "source_seed": "027", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/027" + }, + { + "target_seed": "008", + "source_seed": "029", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/029" + }, + { + "target_seed": "009", + "source_seed": "032", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/032" + }, + { + "target_seed": "010", + "source_seed": "038", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/038" + }, + { + "target_seed": "011", + "source_seed": "044", + "source_path": "/mnt/data/wangyukai/tmp/EBench/tasks/ebench/mobile_manip/shop/044" + } + ] + } + ] +} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_train/000/config.yaml b/tasks/ebench/mobile_manip/pen_val_train/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_train/000/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_train/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_train/001/config.yaml b/tasks/ebench/mobile_manip/pen_val_train/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_train/001/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_train/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_train/002/config.yaml b/tasks/ebench/mobile_manip/pen_val_train/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_train/002/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_train/003/config.yaml b/tasks/ebench/mobile_manip/pen_val_train/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_train/003/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_train/004/config.yaml b/tasks/ebench/mobile_manip/pen_val_train/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_train/004/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_train/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_train/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_train/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen/000/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen/001/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen/002/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen/004/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen/005/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/000/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/001/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/002/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/003/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/004/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/005/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/006/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/007/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/008/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/009/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/010/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/010/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/pen_val_unseen_20p/011/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d483e9af7924bcecd54bfb086d5975f950a725 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_val_unseen_20p/011/config.yaml @@ -0,0 +1,275 @@ +demonstration_configs: +- domain_randomization: &id003 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + random_visuals: + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ed/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0eb/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ec/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/obj_table/model_52273498e78b14f0f6d6d9de22baff8c_0/Looks/_d677c0a44b6160001dac0ee/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$' + - prim_path: /World/_scene/room/Meshes/Furnitures/blanket/model_6a82a00d89d77ffe9830945afd82a94b_0/Looks/_ecf5f53c6ff5a0001391d32/Num5eca7a7ec6ff5a000138112d + type: mdl + assets_pattern: 'miscs/mdl/ebench/mdl/ground/train/.*\.mdl$' + - prim_path: /World/_scene/obj_pen6/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen6_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen9/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen9_texture/train/.*\.png$' + - prim_path: /World/_scene/obj_pen1/Looks/material0/baseColorTex + type: texture + assets_pattern: 'scene_usds/ebench/long_horizon/scene_pen/textures/pen1_texture/train/.*\.png$' + rewrite_instruction: false + generation_config: + action_path: &id004 + mode: manual + actions: + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.15344310298095626, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen1 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [-0.0, 0.34045243488865873, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: true + rel_object_uid: pen1 + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.08, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.15] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + left: + - name: left + translation: [-0.0, 0.3365594863907217, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + translation: [-0.0, 0.15346982452568844, -0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen6 + type: object_frame + - name: left + cnt: 15 + grasp: true + type: pending + - name: left + translation: [0.29, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: left + type: robot_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.1, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: left + translation: [0.0, 0.2, 0.18] + orientation: [-0.5, 0.5, -0.5, -0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + - type: custom_motion + motion_list: + right: + - name: right + translation: [-0.0, 0.3093485787844157, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + translation: [-0.0, 0.14578467900586123, 0.0] + orientation: [0.707, 0.0, 0.0, -0.707] + grasp: false + rel_object_uid: pen9 + type: object_frame + - name: right + cnt: 15 + grasp: true + type: pending + - name: right + translation: [0.34, 0.0, 0.25] + orientation: [0.70711, 0.0, 0.70711, 0.0] + grasp: true + rel_arm: right + type: robot_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.1, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: true + rel_object_uid: penholder_big + type: object_frame + - name: right + translation: [0.0, 0.2, -0.18] + orientation: [-0.5, 0.5, 0.5, 0.5] + grasp: false + rel_object_uid: penholder_big + type: object_frame + left: + - name: left + cnt: 50 + grasp: false + type: reset + robot: 0 + articulation: [] + goal: + - - &id005 + obj1_uid: + - pen1 + obj2_uid: + - penholder_big + position: + - in + - &id006 + obj1_uid: + - pen6 + obj2_uid: + - penholder_big + position: + - in + - obj1_uid: + - pen9 + obj2_uid: + - penholder_big + position: + - in + mode: manual + planner: curobo + instruction: Put the pens in the penholder. + layout_config: &id009 + ignored_objects: [] + type: random_custom_tableset + custom_tableset: + - penholder_big: + w: 0.15 + h: 0.15 + angle: 0 + angle_bilateral: false + type: centric_range + pen1: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen6: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + pen9: + w: 0.15 + h: 0.15 + angle: 30 + angle_bilateral: true + type: centric_range + mode: manual + num_episode: 5 + object_config: &id010 + penholder_big: + type: existed_object + uid_list: + - penholder_big + is_not_rigid: true + without_colliders: true + pen1: + type: existed_object + uid_list: + - pen1 + is_not_rigid: true + without_colliders: true + pen6: + type: existed_object + uid_list: + - pen6 + is_not_rigid: true + without_colliders: true + pen9: + type: existed_object + uid_list: + - pen9 + is_not_rigid: true + without_colliders: true + preprocess_config: [] + robots: + - &id011 + type: manip/lift2/R5a + position: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/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: [-0.85, 0.0, -0.6] + orientation: [1.0, 0.0, 0.0, 0.0] + table_uid: table + task_name: ebench/long/pen + usd_name: scene_usds/ebench/long_horizon/scene_pen/scene \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/pen_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/pen_val_unseen_20p/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/pen_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/pen_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/pen_val_unseen_20p/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..5f8378e1bb4b9242727be084792d9d2b4bf635dc Binary files /dev/null and b/tasks/ebench/mobile_manip/pen_val_unseen_20p/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train/000/lmdb/data.mdb 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random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/000/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/001/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/002/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9c4cd7c0d39e505e3bb88aaa5def24c260172efc Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/003/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/003/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/003/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/004/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/005/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/006/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/007/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/008/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/008/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/008/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/009/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/009/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/009/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8f8700f8bb262e71a0524926c5a4bbf39ddf481f Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/010/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/011/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/012/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9c4cd7c0d39e505e3bb88aaa5def24c260172efc Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/013/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9c4cd7c0d39e505e3bb88aaa5def24c260172efc Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/014/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/014/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/014/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/014/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8f8700f8bb262e71a0524926c5a4bbf39ddf481f Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/015/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/016/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/016/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/016/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/016/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/017/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/017/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/017/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/017/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/018/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/019/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/020/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/020/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/020/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/020/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/021/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/021/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/021/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/021/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/021/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/021/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/022/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/022/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/022/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/022/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/022/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/022/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/023/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/023/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/023/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/023/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/023/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/023/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/023/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/024/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/024/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/024/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/024/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/024/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/024/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/024/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/024/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/024/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/025/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/025/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/025/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/025/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/026/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/026/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/026/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/026/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/026/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/026/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/027/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/027/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/027/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/028/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/028/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/028/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/028/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/028/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/028/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/029/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/029/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/030/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/030/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/030/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/030/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/030/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/030/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/030/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/030/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/030/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/031/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/031/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/031/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/032/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/032/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/032/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/032/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/032/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/032/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/032/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/032/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/032/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/033/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/033/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/033/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/033/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/033/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/033/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/033/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/033/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/033/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/034/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/034/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/034/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/034/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/034/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/034/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/035/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/035/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/035/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/035/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/036/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/036/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/036/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/036/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/036/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/037/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/037/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/037/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/037/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/037/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/037/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/037/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/037/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/037/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/038/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/038/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/038/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/038/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/038/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/038/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/039/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/039/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/039/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/039/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/039/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/039/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/039/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/040/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/040/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/040/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/041/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/041/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/041/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/041/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/041/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/041/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/042/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/042/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/042/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/042/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/042/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/042/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/042/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/042/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/042/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/043/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/043/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/043/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/043/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/043/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/043/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/044/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/044/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/044/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/044/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/044/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/044/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/045/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/045/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/045/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/045/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/046/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/046/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/046/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/046/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/046/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/046/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/046/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/046/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/046/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/047/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/047/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/047/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/047/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/047/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/047/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/048/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/048/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/048/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/048/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/048/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/048/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/049/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/049/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/049/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/049/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/049/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/049/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/050/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/050/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/050/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/050/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/050/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/050/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/050/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/050/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/050/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/051/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/051/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/051/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/052/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/052/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/052/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/052/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/052/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/052/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/053/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/053/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/053/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/054/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/054/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/054/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/054/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/054/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/054/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/054/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/054/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/054/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/055/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/055/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/055/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/055/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/056/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/056/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/056/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/056/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/056/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/056/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/056/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652 Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/056/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/057/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/057/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/057/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/057/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/057/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/057/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/057/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/057/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9c4cd7c0d39e505e3bb88aaa5def24c260172efc Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/057/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/058/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/058/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/058/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/058/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/058/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9c4cd7c0d39e505e3bb88aaa5def24c260172efc Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/059/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack/059/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack/059/config.yaml @@ -0,0 +1,186 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_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 + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: left + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + left: + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: false + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '0' + translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307] + orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506] + grasp: true + cnt: 500 + - type: move_to + move_type: align + rel_object_uid: '1' + arm: left + grasp: true + delta_position: + x: null + y: -0.2 + yaw: null + - type: custom_motion + motion_list: + left: + # - name: left + # type: debug + # rel_arm: left + # debug_rel_object_uid: '1' + # translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192] + # orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394] + # grasp: true + # cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 300 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: true + cnt: 500 + - name: left + type: object_frame + rel_object_uid: '1' + translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909] + orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551] + grasp: false + cnt: 500 + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the salt from the countertop and place it into the spice rack. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.29 + random_range_y: -1.3 + random_range_w: 0.1 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.7, 0.0, 0.0, 0.7] + buffer_size: 0.01 + type: global_range + # '1': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + # '2': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.1 + # h: 0.1 + # buffer_size: 0.01 + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$" + relative_scale: 0.008 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_06' # update uid + # '2': + # type: existed_object + # uid_list: + # - '_05' # update uid + preprocess_config: + - &id005 + config: + config: default + type: convexDecomposition + type: collider + # - type: rigid_body + robots: + - &id006 + type: manip/lift2/R5a + position: [0.9, -0.99, -0.5] # update to fit the scene + orientation: [0, 0, 0, 1] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task7_ready + usd_name: scene_usds/ebench/simple_pnp/task7/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the salt from the countertop and place it in the spice rack." + 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/task7_obj + usd_name: scene_usds/ebench/simple_pnp/task7/scene diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack/059/lmdb/info.json 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0000000000000000000000000000000000000000..79af9e393b14bbc1e9077e4f0d9725bd715a7777 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f0a646e317b2b7872bf5c3655d1863496717e66025e9ec53a98546b606b1b56 +size 1572864 diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/meta_info.pkl b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..aedcc41e536c574711d07e277247b73634bff0a3 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf07884706b538fefc4a56a51f556bd4db8cd4ff0bffabedf78af5686bbaf9e7 +size 7929 diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/lmdb/data.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/lmdb/data.mdb 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a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/lmdb/data.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/lmdb/data.mdb new file mode 100644 index 0000000000000000000000000000000000000000..0080a8e7beaf7d9416b9907afc0b09c2f4e3e37e --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/lmdb/data.mdb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c0a28d6e7412a261522c6fe9a98e347f9435b48c7d4b84ecbb3ec6e0d3877f3 +size 1572864 diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/meta_info.pkl b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/meta_info.pkl new file mode 100644 index 0000000000000000000000000000000000000000..b4e85b75d8921421c0efb6f1ef1c0f29dfefc277 --- /dev/null +++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/meta_info.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c169bea940d6e6d65cf19b30c6a58778bbb3b008c9665d9cddd93979d565c8a3 +size 7929 diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/000/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_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/soap_to_dish_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/001/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_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/soap_to_dish_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/002/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_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/soap_to_dish_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/003/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_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/soap_to_dish_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/004/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_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/soap_to_dish_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/005/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_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/soap_to_dish_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/006/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_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/soap_to_dish_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..aa86555c950f0aaa13f8cade5890820fc66a008a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/007/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_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/soap_to_dish_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1edc5ba507fed7233babf84d09ca70b694066b2a Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/008/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_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/soap_to_dish_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..1e7a9f988bb8c1ba3d71476bb46817b9f2566193 Binary files /dev/null and b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..db54178affbc0e8d6d356f72d886bad1cd8dceb2 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/009/config.yaml @@ -0,0 +1,138 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: auto + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '1' + position: + - top + fixed_position: true + allow_fixed_grasp: true # comment to use any grasp + force_fixed_grasp: true + gripper_rot_config: + axis: z + angle: 90 + apply_in_relative_grasp: true + compensate_obj1_yaw: true + arm: auto + grasp_idx: [0, 1, 2, 3, 4] + base_motion_list: + 0: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + - x: 0.2 + y: 0.0 + yaw: 0.0 + type: delta + 3: + - x: null + y: [-0.05, 0.05] + yaw: null + type: align + mode: manual + planner: curobo + instruction: Pick up the bar of soap from the bathtub edge and place it into the soap dish. # update instruction + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + # '0': + # type: centric_range + # angle_bilateral: true + # angle: 15 + # w: 0.06 + # h: 0.06 + # buffer_size: 0.0 + '0': + random_range_x: -0.35 + random_range_y: -0.2 + random_range_w: 0.2 + random_range_h: 0.2 + random_range_angle: 15 + additional_height: 0.02 + buffer_size: 0.05 + type: global_range + '1': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + '2': + type: centric_range + angle_bilateral: true + angle: 15 + w: 0.06 + h: 0.06 + buffer_size: 0.0 + mode: manual + num_episode: 400 + object_config: &id004 + # '0': + # type: existed_object + # uid_list: + # - '00' # update uid + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/soap/ready/.*\\.usd$" + relative_scale: 1 + option: + - plain_replace + without_colliders: false + '1': + type: existed_object + uid_list: + - '_01' # update uid + '2': + type: existed_object + uid_list: + - '_06' # update uid + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [-1.02, 0.0, 0.31] # update to fit the scene + # orientation: [0, 0, 180] + # update following + table_uid: table + task_name: ebench/simple_pnpa/task3_ready + usd_name: scene_usds/ebench/simple_pnp/task3/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the bar of soap from the bathtub edge and put it in the soap dish." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: *id004 + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp/task3_obj + usd_name: scene_usds/ebench/simple_pnp/task3/scene diff --git a/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/soap_to_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/soap_to_dish_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/soap_to_dish_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 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https://git-lfs.github.com/spec/v1 +oid sha256:3b69a9d718f039d30e2a4cf7052711fcadf799e455dd763b5af709c6a5262317 +size 8018 diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/000/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/000/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..125f2f2e3bf4ecb139a35b8fe3fbff52d396617f Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/001/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/001/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/002/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/002/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/003/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/003/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/004/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/004/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/005/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/005/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/006/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/006/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..e9dd5ced35f6208422b20d9f39a82c82a03c1077 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/007/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/007/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8e7f56a27989562f716689d602f859b0cdc0ff38 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/008/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/008/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..8e7f56a27989562f716689d602f859b0cdc0ff38 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/009/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..95306a6ac6519bfc773337b4538d06a5187ba5f8 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/009/config.yaml @@ -0,0 +1,258 @@ +demonstration_configs: +- domain_randomization: &id001 + cameras: + config_path: configs/cameras/fixed_camera_lift2_simbox.yml + type: fixed + random_environment: + has_wall: false + hdr: false + robot_base_position: false + robot_eepose: false + table_texture: false + table_type: false + wall_texture: false + rewrite_instruction: false + generation_config: &id002 + action_path: + mode: manual + actions: + - type: move_to + move_type: align + rel_object_uid: '0' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 500 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '0' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + # fork + - type: move_to + move_type: align + rel_object_uid: '1' + arm: right + delta_position: + x: null + y: 0.0 + yaw: null + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: false + cnt: 300 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.006696212456925643, 0.1537908534724607, 0.004178804285727422] + orientation: [0.711175419999781, -0.041944497861731024, -0.0020411420204687817, -0.7017592285296392] + grasp: true + cnt: 10 + - name: right + type: object_frame + rel_object_uid: '1' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - type: move_to + move_type: align + rel_object_uid: '2' + arm: right + delta_position: + x: null + y: 0 + yaw: null + grasp: true + - type: custom_motion + motion_list: + right: + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.025060746435041192, 0.15452572066282244, 0.0117466460316528654] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: true + # cnt: 300 + - name: right + type: object_frame + rel_object_uid: '2' + translation: [0.05052627842132851, 0.2553865682140377, 0.010582298467350648] + orientation: [-0.637526824593614, 0.09083134496024897, 0.012958668779657078, 0.764945284056157] + grasp: false + robot: 0 + articulation: [] + goal: + - - obj1_uid: + - '0' + obj2_uid: + - '2' + position: + - top + - obj1_uid: + - '1' + obj2_uid: + - '2' + position: + - top + mode: manual + planner: curobo + instruction: Pick up the fork and spoon from the countertop and place them into the utensil holder. + layout_config: &id003 + type: random_custom_tableset + in_order: true + custom_tableset: + '0': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + # 0: + # pos_x: 0.7 + # pos_y: -1.2 + # pos_z: 0.1 + # additional_height: 0 + # random_range_angle: 0 + # orientation: [0.43, 0.56, 0.43, 0.56] + # reset_orientation: true + # type: fixed_global_range + '1': + random_range_x: 0.4 + random_range_y: -1.3 + random_range_w: 0.5 + random_range_h: 0.15 + random_range_angle: 15 + additional_height: 0.01 + reset_orientation: true + orientation: [0.43, 0.56, 0.43, 0.56] + buffer_size: 0.03 + type: global_range + mode: manual + num_episode: 400 + object_config: &id004 + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/train/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/train/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - &id006 + type: manip/lift2/R5a + position: [0.27, -1.75, -0.5] # update to fit the scene + orientation: [0.70711, 0, 0, 0.70711] + table_uid: table + task_name: ebench/simple_pnpa/task1_train + usd_name: scene_usds/ebench/simple_pnp/task1/scene + +evaluation_configs: +- domain_randomization: *id001 + generation_config: *id002 + instruction: "Pick up the fork and the spoon from the counter and put them in the utensil holder." + layout_config: *id003 + mode: manual + num_test: 100 + num_steps: 1000 + object_config: + '0': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/spoon/ready/.*\\.usd$" + relative_scale: 0.7 + option: + - plain_replace + without_colliders: false + '1': + type: load_object_from_path + filter_rule: [] + max_cached_num: 10 + path: "regex:^object_usds/custom_usd/ebench_usds/fork/ready/.*\\.usd$" + relative_scale: 0.5 + option: + - plain_replace + without_colliders: false + '2': + type: existed_object + uid_list: + - '04' + preprocess_config: [] + robots: + - *id006 + table_uid: table + task_name: ebench/simple_pnp_1/task1_obj + usd_name: scene_usds/ebench/simple_pnp/task1/scene diff --git a/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349 --- /dev/null +++ b/tasks/ebench/mobile_manip/utensils_to_holder_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/utensils_to_holder_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..2e62f37fc45fdba714c39d2500400b760fc593c5 Binary files /dev/null and b/tasks/ebench/mobile_manip/utensils_to_holder_val_train_20p/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear_val_unseen/000/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear_val_unseen/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/install_gear_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/table_top_manip/install_gear_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/install_gear_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear_val_unseen/001/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear_val_unseen/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/install_gear_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/table_top_manip/install_gear_val_unseen/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/install_gear_val_unseen/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear_val_unseen/002/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear_val_unseen/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear_val_unseen/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/install_gear_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/table_top_manip/install_gear_val_unseen/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/install_gear_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear_val_unseen/003/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear_val_unseen/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "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", 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0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear_val_unseen/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "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": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/install_gear_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/table_top_manip/install_gear_val_unseen/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/install_gear_val_unseen/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear_val_unseen/005/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear_val_unseen/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear_val_unseen/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "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": 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a/tasks/ebench/table_top_manip/install_gear_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/table_top_manip/install_gear_val_unseen/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/install_gear_val_unseen/005/lmdb/lock.mdb differ