File size: 14,692 Bytes
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- domain_randomization:
cameras:
config_path: configs/cameras/fixed_camera_lift2_simbox.yml
type: fixed
random_environment:
has_wall: false
hdr: false
robot_base_position: false
robot_eepose: false
table_texture: false
table_type: false
wall_texture: false
random_visuals:
- prim_path: /World/_scene/layout/DomeLight
type: dome_light
assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$'
- prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3
type: mdl
assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
- prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3
type: mdl
assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
rewrite_instruction: false
generation_config:
action_path:
mode: manual
actions:
# ================================== left detergent ===================================
- type: custom_motion
motion_list:
left:
- name: left
translation: [-0.14, 0.15, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: false
rel_object_uid: detergent2
type: object_frame
- name: left
translation: [-0.14, 0.04, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: false
rel_object_uid: detergent2
type: object_frame
- name: left
translation: [-0.14, 0.04, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: true
rel_object_uid: detergent2
type: object_frame
- name: left
translation: [0.25, -0.05, 0.28]
orientation: [0.70711, 0.0, 0.0, -0.70711]
grasp: true
rel_arm: left
type: robot_frame
- type: custom_motion
motion_list:
left:
- name: left
grasp: true
cnt: 1
type: pending
right:
- name: right
translation: [0.2, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: false
rel_object_uid: detergent2
type: object_frame
- name: right
translation: [0.14, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: false
rel_object_uid: detergent2
type: object_frame
- name: right
translation: [0.14, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: true
rel_object_uid: detergent2
type: object_frame
- type: custom_motion
motion_list:
left:
- name: left
translation: [0.25, 0.0, 0.28]
orientation: [0.70711, 0.0, 0.0, -0.70711]
grasp: false
rel_arm: left
type: robot_frame
- name: left
cnt: 50
grasp: false
type: reset
right:
- name: right
translation: [0.14, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: true
rel_object_uid: detergent2
type: object_frame
- type: custom_motion
motion_list:
right:
- name: right
translation: [0.14, 0.02, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: true
rel_object_uid: detergent2
type: object_frame
- name: right
translation: [-0.2, 0.25, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: true
rel_object_uid: basket
type: object_frame
- name: right
translation: [-0.14, 0.21, 0.0]
orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
grasp: true
rel_object_uid: basket
type: object_frame
- name: right
translation: [-0.14, 0.21, 0.0]
orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
grasp: false
rel_object_uid: basket
type: object_frame
# ================================== right detergent ==================================
- type: custom_motion
motion_list:
left:
- name: left
translation: [-0.14, 0.15, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: false
rel_object_uid: detergent3
type: object_frame
- name: left
translation: [-0.14, 0.04, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: false
rel_object_uid: detergent3
type: object_frame
- name: left
translation: [-0.14, 0.04, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: true
rel_object_uid: detergent3
type: object_frame
- name: left
translation: [-0.3, 0.2, -0.4]
orientation: [0.5, -0.5, -0.5, -0.5]
grasp: true
rel_object_uid: basket
type: object_frame
right:
- name: right
cnt: 50
grasp: false
type: reset
- type: custom_motion
motion_list:
left:
- name: left
grasp: true
cnt: 1
type: pending
right:
- name: right
translation: [0.2, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: false
rel_object_uid: detergent3
type: object_frame
- name: right
translation: [0.14, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: false
rel_object_uid: detergent3
type: object_frame
- name: right
translation: [0.14, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: true
rel_object_uid: detergent3
type: object_frame
- type: custom_motion
motion_list:
left:
- name: left
translation: [0.25, 0.0, 0.28]
orientation: [0.70711, 0.0, 0.0, -0.70711]
grasp: false
rel_arm: left
type: robot_frame
- name: left
cnt: 50
grasp: false
type: reset
right:
- name: right
translation: [0.14, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: true
rel_object_uid: detergent3
type: object_frame
- type: custom_motion
motion_list:
right:
- name: right
translation: [0.14, 0.02, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: true
rel_object_uid: detergent3
type: object_frame
- name: right
translation: [-0.2, 0.25, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: true
rel_object_uid: basket
type: object_frame
- name: right
translation: [-0.14, 0.21, 0.0]
orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
grasp: true
rel_object_uid: basket
type: object_frame
- name: right
translation: [-0.14, 0.21, 0.0]
orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
grasp: false
rel_object_uid: basket
type: object_frame
# ================================== mid detergent ==================================
- type: custom_motion
motion_list:
left:
- name: left
translation: [-0.14, 0.15, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: false
rel_object_uid: detergent1
type: object_frame
- name: left
translation: [-0.14, 0.04, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: false
rel_object_uid: detergent1
type: object_frame
- name: left
translation: [-0.14, 0.04, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: true
rel_object_uid: detergent1
type: object_frame
- name: left
translation: [0.25, -0.05, 0.28]
orientation: [0.70711, 0.0, 0.0, -0.70711]
grasp: true
rel_arm: left
type: robot_frame
right:
- name: right
cnt: 50
grasp: false
type: reset
- type: custom_motion
motion_list:
left:
- name: left
grasp: true
cnt: 1
type: pending
right:
- name: right
translation: [0.2, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: false
rel_object_uid: detergent1
type: object_frame
- name: right
translation: [0.14, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: false
rel_object_uid: detergent1
type: object_frame
- name: right
translation: [0.14, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: true
rel_object_uid: detergent1
type: object_frame
- type: custom_motion
motion_list:
left:
- name: left
translation: [0.25, 0.0, 0.28]
orientation: [0.70711, 0.0, 0.0, -0.70711]
grasp: false
rel_arm: left
type: robot_frame
- name: left
cnt: 50
grasp: false
type: reset
right:
- name: right
translation: [0.14, -0.03, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: true
rel_object_uid: detergent1
type: object_frame
- type: custom_motion
motion_list:
right:
- name: right
translation: [0.14, 0.02, 0.0]
orientation: [0.0, 0.0, 0.70711, 0.70711]
grasp: true
rel_object_uid: detergent1
type: object_frame
- name: right
translation: [-0.2, 0.25, 0.0]
orientation: [0.70711, -0.70711, 0.0, 0.0]
grasp: true
rel_object_uid: basket
type: object_frame
- name: right
translation: [-0.14, 0.21, 0.0]
orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
grasp: true
rel_object_uid: basket
type: object_frame
- name: right
translation: [-0.14, 0.21, 0.0]
orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
grasp: false
rel_object_uid: basket
type: object_frame
robot: 0
articulation: []
goal:
- - obj1_uid:
- detergent1
obj2_uid:
- basket
position:
- top
- obj1_uid:
- detergent2
obj2_uid:
- basket
position:
- top
- obj1_uid:
- detergent3
obj2_uid:
- basket
position:
- top
mode: manual
planner: curobo
instruction: Put all the detergents into the basket.
layout_config: &id009
ignored_objects: []
type: random_custom_tableset
custom_tableset:
- detergent1:
position: [0.90, 0.17, 1.1]
orientation: [0.70711, 0.70711, 0.0, 0.0]
reset_orientation: true
w: 0.15
h: 0.15
angle: 0
buffer_size: 0.05
angle_bilateral: false
type: centric_range
detergent2:
position: [0.80, 0.07, 1.1]
orientation: [0.70711, 0.70711, 0.0, 0.0]
reset_orientation: true
w: 0.15
h: 0.15
angle: 0
buffer_size: 0.05
angle_bilateral: false
type: centric_range
detergent3:
position: [0.80, 0.26, 1.1]
orientation: [0.70711, 0.70711, 0.0, 0.0]
reset_orientation: true
w: 0.1
h: 0.1
angle: 0
buffer_size: 0.05
angle_bilateral: false
type: centric_range
mode: manual
num_episode: 5
object_config:
detergent1:
type: load_object_from_path
path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
max_cached_num: 1000
relative_scale: 1.0
mass: 0.1
option:
- plain_replace
detergent2:
type: load_object_from_path
path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
max_cached_num: 1000
relative_scale: 1.0
mass: 0.1
option:
- plain_replace
detergent3:
type: load_object_from_path
path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
max_cached_num: 1000
relative_scale: 1.0
mass: 0.1
option:
- plain_replace
basket:
type: existed_object
uid_list:
- "03"
is_not_rigid: true
without_colliders: true
preprocess_config: []
robots:
- &id011
type: manip/lift2/R5a
position: [0.2, 0.0, 0.27]
orientation: [1.0, 0.0, 0.0, 0.0]
table_uid: table
task_name: ebench/long/detergent
usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene
evaluation_configs:
- domain_randomization:
cameras:
config_path: configs/cameras/fixed_camera_lift2_simbox.yml
type: fixed
num_test: 100
num_steps: 5000
robots:
- type: manip/lift2/R5a
position: [0.1, 0.0, 0.27]
orientation: [1.0, 0.0, 0.0, 0.0]
table_uid: table
task_name: ebench/long/detergent
usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene |