File size: 19,153 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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
type: mdl
assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
- prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
type: mdl
assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
- prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
type: texture
assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
- prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
type: texture
assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
- prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
type: texture
assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
- prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
type: texture
assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
rewrite_instruction: false
generation_config:
action_path:
mode: manual
actions:
# =========================== dish3 ==========================
- type: move_to
move_type: alignv2
rel_object_uid: dish3
arm: left
delta_position:
x: null
y: 0.0
yaw: null
- type: custom_motion
motion_list:
left:
- name: left
translation: [0.0, 0.2, 0.12]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: false
rel_object_uid: dish3
type: object_frame
- name: left
translation: [0.0, 0.15, 0.12]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: false
rel_object_uid: dish3
type: object_frame
- name: left
translation: [0.0, 0.3, 0.12]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: true
rel_object_uid: dish3
type: object_frame
- type: move_to
move_type: alignv2
rel_object_uid: basket_big
arm: left
grasp: true
delta_position:
x: null
y: 0.0
yaw: null
- type: custom_motion
motion_list:
left:
- name: left
translation: [0.0, 0.27, 0.12]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: true
rel_object_uid: basket_big
type: object_frame
- name: left
translation: [0.0, 0.15, 0.12]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: true
rel_object_uid: basket_big
type: object_frame
- name: left
translation: [0.0, 0.15, 0.12]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: false
rel_object_uid: basket_big
type: object_frame
- name: left
cnt: 50
grasp: false
type: reset
# =========================== dish1 ==========================
- type: move_to
move_type: alignv2
rel_object_uid: dish1
arm: left
delta_position:
x: null
y: 0.0
yaw: null
- type: custom_motion
motion_list:
left:
- name: left
translation: [0.0, 0.2, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: false
rel_object_uid: dish1
type: object_frame
- name: left
translation: [0.0, 0.15, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: false
rel_object_uid: dish1
type: object_frame
- name: left
translation: [0.0, 0.3, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: true
rel_object_uid: dish1
type: object_frame
- type: move_to
move_type: alignv2
rel_object_uid: basket_big
arm: left
grasp: true
delta_position:
x: null
y: 0.0
yaw: null
- type: custom_motion
motion_list:
left:
- name: left
translation: [0.0, 0.27, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: true
rel_object_uid: basket_big
type: object_frame
- name: left
translation: [0.0, 0.18, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: true
rel_object_uid: basket_big
type: object_frame
- name: left
translation: [0.0, 0.18, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: false
rel_object_uid: basket_big
type: object_frame
- name: left
cnt: 50
grasp: false
type: reset
# =========================== dish2 ==========================
- type: move_to
move_type: alignv2
rel_object_uid: dish2
arm: left
delta_position:
x: null
y: 0.0
yaw: null
- type: custom_motion
motion_list:
left:
- name: left
translation: [0.0, 0.2, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: false
rel_object_uid: dish2
type: object_frame
- name: left
translation: [0.0, 0.15, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: false
rel_object_uid: dish2
type: object_frame
- name: left
translation: [0.0, 0.3, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: true
rel_object_uid: dish2
type: object_frame
- type: move_to
move_type: alignv2
rel_object_uid: basket_big
arm: left
grasp: true
delta_position:
x: null
y: 0.0
yaw: null
- type: custom_motion
motion_list:
left:
- name: left
translation: [0.0, 0.27, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: true
rel_object_uid: basket_big
type: object_frame
- name: left
translation: [0.0, 0.19, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: true
rel_object_uid: basket_big
type: object_frame
- name: left
translation: [0.0, 0.19, 0.1]
orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
grasp: false
rel_object_uid: basket_big
type: object_frame
- name: left
cnt: 50
grasp: false
type: reset
# =========================== glass ===========================
- type: move_to
move_type: alignv2
rel_object_uid: glass
arm: left
delta_position:
x: null
y: 0.0
yaw: null
- type: custom_motion
motion_list:
left:
- name: left
translation: [0.05, 0.23, 0.05]
orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
grasp: false
rel_object_uid: glass
type: object_frame
- name: left
translation: [0.05, 0.16, 0.05]
orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
grasp: false
rel_object_uid: glass
type: object_frame
- name: left
translation: [0.05, 0.28, 0.05]
orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
grasp: true
rel_object_uid: glass
type: object_frame
- type: move_to
move_type: alignv2
rel_object_uid: basket_big
arm: left
grasp: true
delta_position:
x: null
y: 0.0
yaw: null
- type: custom_motion
motion_list:
left:
- name: left
translation: [0.05, 0.27, 0.05]
orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
grasp: true
rel_object_uid: basket_big
type: object_frame
- name: left
translation: [0.05, 0.22, 0.05]
orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
grasp: true
rel_object_uid: basket_big
type: object_frame
- name: left
translation: [0.05, 0.22, 0.05]
orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
grasp: false
rel_object_uid: basket_big
type: object_frame
- name: left
cnt: 50
grasp: false
type: reset
# ================= back to original position===================
# - type: move_to
# move_type: delta
# delta_position:
# x: 0.0
# y: 0.2
# yaw: 0.0
# ============================================================
# ============================================================
# =========================== fork ===========================
# - type: move_to
# move_type: delta
# delta_position:
# x: 0.0
# y: 0.3
# yaw: 0.0
# - type: custom_motion
# motion_list:
# right:
# - name: right
# translation: [0.0, 0.2, 0.01]
# orientation: [0.70711, 0.0, 0.0, -0.70711]
# # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
# grasp: false
# rel_object_uid: fork
# type: object_frame
# - name: right
# translation: [0.0, 0.154, 0.02]
# orientation: [0.70711, 0.0, 0.0, -0.70711]
# # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
# grasp: false
# rel_object_uid: fork
# type: object_frame
# - name: right
# translation: [0.0, 0.154, 0.02]
# orientation: [0.70711, 0.0, 0.0, -0.70711]
# # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
# grasp: true
# rel_object_uid: fork
# type: object_frame
# - name: right
# translation: [0.0, 0.3, 0.015]
# orientation: [0.70711, 0.0, 0.0, -0.70711]
# # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
# grasp: true
# rel_object_uid: fork
# type: object_frame
# - type: move_to
# move_type: delta
# arm: right
# grasp: true
# delta_position:
# x: 0.0
# y: -0.3
# yaw: 0
# - type: custom_motion
# motion_list:
# right:
# - name: right
# translation: [0.07, 0.2, 0.0]
# orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
# grasp: true
# rel_object_uid: basket_small
# type: object_frame
# - name: right
# translation: [0.07, 0.2, 0.0]
# orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
# grasp: false
# rel_object_uid: basket_small
# type: object_frame
# - name: right
# cnt: 50
# grasp: false
# type: reset
# =========================== Spoon ===========================
- type: move_to
move_type: dalignv2
rel_object_uid: spoon
arm: right
delta_position:
x: null
y: 0.0
yaw: null
- type: custom_motion
motion_list:
right:
- name: right
translation: [0.0, 0.2, 0.025]
orientation: [0.70711, 0.0, 0.0, -0.70711]
grasp: false
rel_object_uid: spoon
type: object_frame
- name: right
translation: [0.0, 0.155, 0.025]
orientation: [0.70711, 0.0, 0.0, -0.70711]
grasp: false
rel_object_uid: spoon
type: object_frame
- name: right
translation: [0.0, 0.155, 0.025]
orientation: [0.70711, 0.0, 0.0, -0.70711]
grasp: true
rel_object_uid: spoon
type: object_frame
- name: right
translation: [0.0, 0.3, 0.025]
orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
grasp: true
rel_object_uid: spoon
type: object_frame
- type: move_to
move_type: alignv2
rel_object_uid: basket_small
arm: right
grasp: true
delta_position:
x: null
y: 0.0
yaw: null
- type: custom_motion
motion_list:
right:
- name: right
translation: [0.07, 0.2, 0.0]
orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
grasp: true
rel_object_uid: basket_small
type: object_frame
- name: right
translation: [0.07, 0.2, 0.0]
orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
grasp: false
rel_object_uid: basket_small
type: object_frame
- name: right
cnt: 50
grasp: false
type: reset
robot: 0
articulation: []
goal:
- - obj1_uid:
- dish1
obj2_uid:
- basket_big
position:
- top
- obj1_uid:
- dish2
obj2_uid:
- basket_big
position:
- top
- obj1_uid:
- dish3
obj2_uid:
- basket_big
position:
- top
- obj1_uid:
- glass
obj2_uid:
- basket_big
position:
- top
- obj1_uid:
- spoon
obj2_uid:
- basket_small
position:
- top
mode: manual
planner: curobo
instruction: Put all the dishes into the big basket and the spoon into the small basket.
layout_config: &id009
ignored_objects: []
type: random_custom_tableset
custom_tableset:
- dish1:
w: 0.1
h: 0.1
angle: 0
angle_bilateral: false
type: centric_range
buffer_size: 0.02
dish2:
w: 0.1
h: 0.1
angle: 0
angle_bilateral: false
type: centric_range
buffer_size: 0.03
dish3:
w: 0.1
h: 0.1
angle: 0
angle_bilateral: false
type: centric_range
buffer_size: 0.03
glass:
w: 0.1
h: 0.1
angle: 0
angle_bilateral: false
type: centric_range
buffer_size: 0.03
spoon:
w: 0.1
h: 0.1
angle: 0
angle_bilateral: false
type: centric_range
basket_big:
w: 0.1
h: 0.1
angle: 0
angle_bilateral: false
type: centric_range
basket_small:
w: 0.1
h: 0.1
angle: 0
angle_bilateral: false
type: centric_range
mode: manual
num_episode: 5
object_config:
dish1:
type: existed_object
uid_list:
- dish1
is_not_rigid: true
without_colliders: true
dish2:
type: existed_object
uid_list:
- dish2
is_not_rigid: true
without_colliders: true
dish3:
type: existed_object
uid_list:
- dish3
is_not_rigid: true
without_colliders: true
glass:
type: existed_object
uid_list:
- glass
is_not_rigid: true
without_colliders: true
spoon:
type: existed_object
uid_list:
- spoon
is_not_rigid: true
without_colliders: true
basket_big:
type: existed_object
uid_list:
- basket_big
is_not_rigid: true
without_colliders: true
basket_small:
type: existed_object
uid_list:
- basket_small
is_not_rigid: true
without_colliders: true
preprocess_config: []
robots:
- &id011
type: manip/lift2/R5a
position: [0.75, 0.0, -0.65]
orientation: [0.0, 0.0, 0.0, 1.0]
table_uid: table
task_name: ebench/long/dish
usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
evaluation_configs:
- domain_randomization:
cameras:
config_path: configs/cameras/fixed_camera_lift2_simbox.yml
type: fixed
num_test: 10
num_steps: 5000
robots:
- type: manip/lift2/R5a
position: [0.85, 0.0, -0.65]
orientation: [0.0, 0.0, 0.0, 1.0]
table_uid: table
task_name: ebench/long/dish
usd_name: scene_usds/ebench/long_horizon/scene_dish/scene |