File size: 13,780 Bytes
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- 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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f
type: mdl
assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
- prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f
type: mdl
assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
- prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f
type: mdl
assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
- prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex
type: texture
assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$'
- prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex
type: texture
assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$'
rewrite_instruction: false
generation_config:
action_path: &id004
mode: manual
actions:
- type: custom_motion
motion_list:
right:
- name: right
translation: [0.0, 0.0, 0.25]
orientation: [0.5, -0.5, 0.5, 0.5]
grasp: false
rel_object_uid: apple
type: object_frame
- name: right
translation: [0.0, 0.0, 0.15]
orientation: [0.5, -0.5, 0.5, 0.5]
grasp: false
rel_object_uid: apple
type: object_frame
- type: custom_motion
motion_list:
right:
- name: right
translation: [0.3, 0.1, 0.2]
orientation: [0.707, 0.0, 0.0, 0.707]
grasp: true
rel_arm: right
type: robot_frame
left:
- name: left
translation: [0.3, -0.05, 0.2]
orientation: [0.5, -0.5, 0.5, -0.5]
grasp: false
rel_arm: left
type: robot_frame
- type: custom_motion
motion_list:
right:
- name: right
cnt: 1
grasp: true
type: pending
left:
- name: left
translation: [0.3, -0.13, 0.2]
orientation: [0.5, -0.5, 0.5, -0.5]
grasp: false
rel_arm: left
type: robot_frame
- type: custom_motion
motion_list:
right:
- name: right
cnt: 15
grasp: true
type: pending
left:
- name: left
cnt: 15
grasp: true
type: pending
- type: custom_motion
motion_list:
right:
- name: right
translation: [0.3, 0.0, 0.2]
orientation: [0.707, 0.0, 0.0, 0.707]
grasp: false
rel_arm: right
type: robot_frame
- name: right
translation: [0.0, 0.0, 0.25]
orientation: [0.5, -0.5, 0.5, 0.5]
grasp: false
rel_object_uid: orange
type: object_frame
- name: right
translation: [0.0, 0.0, 0.15]
orientation: [0.5, -0.5, 0.5, 0.5]
grasp: false
rel_object_uid: orange
type: object_frame
- name: right
translation: [0.3, 0.1, 0.2]
orientation: [0.707, 0.0, 0.0, 0.707]
grasp: true
rel_arm: right
type: robot_frame
left:
- name: left
translation: [0.3, 0.0, 0.2]
orientation: [0.5, -0.5, 0.5, -0.5]
grasp: true
rel_arm: left
type: robot_frame
- name: left
translation: [0.0, 0.35, 0.0]
orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
grasp: true
rel_object_uid: container
type: object_frame
- name: left
translation: [0.3, -0.05, 0.2]
orientation: [0.5, -0.5, 0.5, -0.5]
grasp: false
rel_arm: left
type: robot_frame
- type: custom_motion
motion_list:
right:
- name: right
cnt: 1
grasp: true
type: pending
left:
- name: left
translation: [0.3, -0.13, 0.2]
orientation: [0.5, -0.5, 0.5, -0.5]
grasp: false
rel_arm: left
type: robot_frame
- type: custom_motion
motion_list:
right:
- name: right
cnt: 15
grasp: true
type: pending
left:
- name: left
cnt: 15
grasp: true
type: pending
- type: custom_motion
motion_list:
right:
- name: right
translation: [0.3, 0.0, 0.2]
orientation: [0.707, 0.0, 0.0, 0.707]
grasp: false
rel_arm: right
type: robot_frame
- name: right
translation: [0.0, 0.0, 0.25]
orientation: [0.5, -0.5, 0.5, 0.5]
grasp: false
rel_object_uid: apple_01
type: object_frame
- name: right
translation: [0.0, 0.0, 0.15]
orientation: [0.5, -0.5, 0.5, 0.5]
grasp: false
rel_object_uid: apple_01
type: object_frame
- name: right
translation: [0.3, 0.1, 0.2]
orientation: [0.707, 0.0, 0.0, 0.707]
grasp: true
rel_arm: right
type: robot_frame
left:
- name: left
translation: [0.3, 0.0, 0.2]
orientation: [0.5, -0.5, 0.5, -0.5]
grasp: true
rel_arm: left
type: robot_frame
- name: left
translation: [0.0, 0.35, 0.0]
orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
grasp: true
rel_object_uid: container
type: object_frame
- name: left
translation: [0.3, -0.05, 0.2]
orientation: [0.5, -0.5, 0.5, -0.5]
grasp: false
rel_arm: left
type: robot_frame
- type: custom_motion
motion_list:
right:
- name: right
cnt: 1
grasp: true
type: pending
left:
- name: left
translation: [0.3, -0.13, 0.2]
orientation: [0.5, -0.5, 0.5, -0.5]
grasp: false
rel_arm: left
type: robot_frame
- type: custom_motion
motion_list:
right:
- name: right
cnt: 15
grasp: true
type: pending
left:
- name: left
cnt: 15
grasp: true
type: pending
- type: custom_motion
motion_list:
right:
- name: right
translation: [0.3, 0.0, 0.2]
orientation: [0.707, 0.0, 0.0, 0.707]
grasp: false
rel_arm: right
type: robot_frame
- name: right
translation: [0.2, 0.18, 0.0]
orientation: [0.2673, 0.2673, -0.65464, -0.65464]
grasp: false
rel_object_uid: cup
type: object_frame
- name: right
translation: [0.144852, 0.124954, 0.0]
orientation: [0.2673, 0.2673, -0.65464, -0.65464]
grasp: false
rel_object_uid: cup
type: object_frame
- name: right
translation: [0.2, 0.0, 0.3]
orientation: [0.927, 0.0, 0.375, 0.0]
grasp: true
rel_arm: right
type: robot_frame
left:
- name: left
translation: [0.3, 0.0, 0.2]
orientation: [0.5, -0.5, 0.5, -0.5]
grasp: true
rel_arm: left
type: robot_frame
- name: left
translation: [0.0, 0.35, 0.0]
orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
grasp: true
rel_object_uid: container
type: object_frame
- name: left
cnt: 50
grasp: false
rel_arm: left
type: reset
- type: move_to
move_type: alignv2
arm: right
grasp: true
rel_object_uid: container
delta_position:
x: null
y: -0.1
yaw: null
- type: custom_motion
motion_list:
right:
- name: right
translation: [0.2, 0.17, 0.2]
orientation: [0.803, -0.464, 0.325, -0.187]
grasp: true
rel_arm: right
type: robot_frame
robot: 0
articulation: []
goal:
- - &id005
obj1_uid:
- apple
obj2_uid:
- container
position:
- in
- &id006
obj1_uid:
- apple_01
obj2_uid:
- container
position:
- in
- obj1_uid:
- orange
obj2_uid:
- container
position:
- in
- type: manip/default/sr_based_genmanip_axis_align
obj1_uid: cup
obj2_uid: container
obj1_axis: y
obj2_axis: y
comparison: '>='
threshold_deg: 40.0
- type: manip/default/sr_based_genmanip_range
obj1_uid: cup
x_type: relative
y_type: relative
z_type: relative
x_range: [-0.04, 0.14]
y_range: [-0.08, 0.05]
z_range: [0.1, 0.3]
x_rel_object_uid: container
y_rel_object_uid: container
z_rel_object_uid: container
mode: manual
planner: curobo
instruction: Make a fruit milkshake in the cup.
layout_config: &id009
ignored_objects: []
type: random_custom_tableset
custom_tableset:
- apple:
position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116]
orientation: [1.0, 0.0, 0.0, 0.0]
reset_orientation: true
additional_height: 0.01
w: 0.15
h: 0.15
angle: 0
angle_bilateral: false
type: centric_range
buffer_size: 0.05
apple_01:
position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238]
orientation: [1.0, 0.0, 0.0, 0.0]
reset_orientation: true
additional_height: 0.01
w: 0.15
h: 0.15
angle: 0
angle_bilateral: false
type: centric_range
buffer_size: 0.05
orange:
position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019]
orientation: [1.0, 0.0, 0.0, 0.0]
reset_orientation: true
additional_height: 0.01
w: 0.1
h: 0.1
angle: 0
angle_bilateral: false
type: centric_range
buffer_size: 0.05
container:
w: 0.15
h: 0.15
angle: 0
angle_bilateral: false
type: centric_range
cup:
w: 0.15
h: 0.15
angle: 0
angle_bilateral: false
type: centric_range
buffer_size: 0.05
mango:
w: 0.15
h: 0.15
angle: 0
angle_bilateral: false
type: centric_range
mode: manual
num_episode: 5
object_config: &id010
mango:
type: existed_object
uid_list:
- mango
is_not_rigid: true
without_colliders: true
apple:
type: load_object_from_path
path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
max_cached_num: 1000
relative_scale: 0.9
mass: 0.1
option:
- plain_replace
orange:
type: load_object_from_path
path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
max_cached_num: 1000
relative_scale: 0.9
mass: 0.1
option:
- plain_replace
apple_01:
type: load_object_from_path
path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
max_cached_num: 1000
relative_scale: 0.9
mass: 0.1
option:
- plain_replace
container:
type: existed_object
uid_list:
- container
is_not_rigid: true
without_colliders: true
cup:
type: existed_object
uid_list:
- cup
is_not_rigid: true
without_colliders: true
preprocess_config: []
robots:
- &id011
type: manip/lift2/R5a
position: [0.15, -0.8, 0.2]
orientation: [0.70711, 0.0, 0.0, 0.70711]
table_uid: table
task_name: ebench/long/fruit
usd_name: scene_usds/ebench/long_horizon/scene_fruit/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: [0.15, -0.8, 0.2]
orientation: [0.70711, 0.0, 0.0, 0.70711]
table_uid: table
task_name: ebench/long/fruit
usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene |