File size: 4,635 Bytes
f403d1d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 | demonstration_configs:
- domain_randomization: &id001
cameras:
config_path: configs/cameras/fixed_camera_lift2_simbox.yml
type: fixed
random_environment:
has_wall: false
hdr: false
robot_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
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