| 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/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: |
| |
| - 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 |
|
|
| |
| - 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 |
| |
| - 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 |
