| demonstration_configs: |
| - 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 |
